SMILE· Iteration 2
EnvironmentClamp electrical component
- Episodes
- SmolVLA 30 SMILE 30
- Total duration
- SmolVLA 11:32 SMILE 12:00
- Mean duration
- SmolVLA 23.1 s SMILE 24.0 s
- Success
- SmolVLA 3% SMILE 13%
- Manipulation density
- SmolVLA Share of time manipulating, five definitionsJoints moving98.5%End-effector moving90.2%Gripper engaged85.0%Contact force > 5 N80.5%Gripper engaged or in contact93.6% SMILE Share of time manipulating, five definitionsJoints moving98.2%End-effector moving88.8%Gripper engaged85.8%Contact force > 5 N80.8%Gripper engaged or in contact93.7%
- SPARC smoothness
- SmolVLA Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. SMILE Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015.
Episode
Held-out benchmark environment
0:000:23