SMILE· Iteration 2
EnvironmentClamp electrical component
- Episodes
- SMILE 30 SmolVLA 30
- Total duration
- SMILE 12:00 SmolVLA 11:32
- Mean duration
- SMILE 24.0 s SmolVLA 23.1 s
- Success
- SMILE 13% SmolVLA 3%
- Manipulation density
- 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% 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%
- SPARC smoothness
- 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. 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.
Episode
Held-out benchmark environment
0:000:16