| --- |
| 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 | |
