---
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 |