SMILE· Iteration 2
EnvironmentPut tools in standing toolbox
- Episodes
- SMILE 30 SmolVLA 30
- Total duration
- SMILE 24:46 SmolVLA 18:22
- Mean duration
- SMILE 49.5 s SmolVLA 36.7 s
- Success
- SMILE 0% SmolVLA 0%
- Manipulation density
- SMILE Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.0%Gripper engaged57.7%Contact force > 5 N76.8%Gripper engaged or in contact89.0% SmolVLA Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.4%Gripper engaged36.2%Contact force > 5 N79.9%Gripper engaged or in contact86.1%
- 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
0:001:18