For the Spring Validation Demonstration, we established success criteria for five different tests. These tests focused on the system requirements involving the detection of hotspots, estimating the pose of hotspots, navigating to hotspots, moving the spray nozzle, and spraying hotspots. The table below shows that our measured performance met or exceeded expectations for each of the tests.
| Success Criteria | Measured Performance |
| Detect hotspots with 50% mAP | Detected hotspots with 65% mAP |
| Estimate position of hotspots within +/- 10 cm accuracy when within 1 meter of the hotspot | Estimated within +/- 10 cm accuracy when within 1 meter, 1.5 meters, and 2 meters |
| Navigate to within 0.25 m and 15° of hotspots on hard, flat indoor floors reliably at 0.25 m/s | Navigated to within 0.15 m and 10° of hotspots on hard, flat indoor floors reliably at 0.5 m/s in simulation |
| Move spray nozzle with 1 degree of freedom | Moved spray nozzle vertically with 1 degree of freedom |
| Spray hotspots with 0.5 m2 coverage | Sprayed a 1.05m2 surface (table) in NSH |