File size: 4,138 Bytes
485dbd9 14125d2 485dbd9 14125d2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | ---
license: apache-2.0
tags:
- robotics
- reinforcement-learning
- dexterous-manipulation
- mujoco
---
# Cyclops Reorient — Reward Weight Ablations
## Default Reward Parameters
| Index | Name | Default Weight |
|-------|-----------------------|:--------------:|
| 0 | orientation_alignment | 30.0 |
| 1 | hand_pose | 0.2 |
| 2 | action_rate | -0.5 |
| 3 | torque | 0 |
| 4 | tip_slide | -0.3 |
| 5 | cage_escape | -100.0 |
| 6 | finger_collision | -1.0 |
| 7 | hold_escalation | 11.4 |
| 8 | palm_detach | 0.5 |
**Success threshold:** 0.2 rad (~11.5°) | **Hold steps:** 5 | **Goal switch delay:** 20 steps
## Ablation Runs
| Run | SLURM Job | orientation_alignment | hand_pose | action_rate | torque | tip_slide | cage_escape | finger_collision | hold_escalation | palm_detach |
|-----|-----------|:---------------------:|:---------:|:-----------:|:------:|:---------:|:-----------:|:----------------:|:---------------:|:-----------:|
| 1 — default | 29156044 | 30.0 | 0.2 | -0.5 | 0 | -0.3 | -100.0 | -1.0 | 11.4 | 0.5 |
| 2 — action_rate -1.0 | 29156071 | 30.0 | 0.2 | **-1.0** | 0 | -0.3 | -100.0 | -1.0 | 11.4 | 0.5 |
| 3 — action_rate -0.3 | 29156287 | 30.0 | 0.2 | **-0.3** | 0 | -0.3 | -100.0 | -1.0 | 11.4 | 0.5 |
| 4 — orientation_alignment 60.0 | 29156420 | **60.0** | 0.2 | -0.5 | 0 | -0.3 | -100.0 | -1.0 | 11.4 | 0.5 |
| 5 — hold_escalation 20.0 | 29156999 | 30.0 | 0.2 | -0.5 | 0 | -0.3 | -100.0 | -1.0 | **20.0** | 0.5 |
| 6 — tip_slide -0.1 | 29157532 | 30.0 | 0.2 | -0.5 | 0 | **-0.1** | -100.0 | -1.0 | 11.4 | 0.5 |
| 7 — cage_escape -50.0 | 29157599 | 30.0 | 0.2 | -0.5 | 0 | -0.3 | **-50.0** | -1.0 | 11.4 | 0.5 |
| 8 — cage_escape -50.0 orientation_alignment 60.0 | 29158153 | **60.0** | 0.2 | -0.5 | 0 | -0.3 | **-50.0** | -1.0 | 11.4 | 0.5 |
| 9 — cage_escape -20.0 orientation_alignment 100.0 | 29200037 | **100.0** | 0.2 | -0.5 | 0 | -0.3 | **-20.0** | -1.0 | 11.4 | 0.5 |
| 10 — cage_escape 0.0 orientation_alignment 100.0 | 29205477 | **100.0** | 0.2 | -0.5 | 0 | -0.3 | **0.0** | -1.0 | 11.4 | 0.5 |
| 11 — action_rate -0.1 | 29211473 | 30.0 | 0.2 | **-0.1** | 0 | -0.3 | -100.0 | -1.0 | 11.4 | 0.5 |
| 12 — action_rate 0 | 29211519 | 30.0 | 0.2 | **0** | 0 | -0.3 | -100.0 | -1.0 | 11.4 | 0.5 |
| 13 — action_rate 0 cage_escape -20.0 orientation_alignment 100.0 | 29211541 | **100.0** | 0.2 | **0** | 0 | -0.3 | **-20.0** | -1.0 | 11.4 | 0.5 |
| 14 — action_rate 0 cage_escape -20.0 orientation_alignment 100.0 tip_slide 0 | 29211543 | **100.0** | 0.2 | **0** | 0 | -0.3 | **-20.0** | -1.0 | 11.4 | 0.5 |
Bold values indicate parameters that differ from the default.
TIP_COLLISION_GEOMS modified to include "distal_link_(center|left|right)_col"
| 15 — default | 29247996 | 30.0 | 0.2 | -0.5 | 0 | -0.3 | -100.0 | -1.0 | 11.4 | 0.5 |
| 16 — action_rate 0 cage_escape -20.0 orientation_alignment 100.0 | 29248859 | **100.0** | 0.2 | **0** | 0 | -0.3 | **-20.0** | -1.0 | 11.4 | 0.5 | |