SMILE· Iteration 2
EnvironmentPour screws into the funnel
- Episodes
- SmolVLA 30 SMILE 30
- Total duration
- SmolVLA 7:42 SMILE 6:09
- Mean duration
- SmolVLA 15.4 s SMILE 12.3 s
- Success
- SmolVLA 50% SMILE 57%
- Manipulation density
- SmolVLA Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.9%Gripper engaged83.9%Contact force > 5 N59.1%Gripper engaged or in contact92.7% SMILE Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged83.2%Contact force > 5 N64.5%Gripper engaged or in contact93.2%
- 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
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