Reveal Ablations
full_model
- mean_success: 0.667
- visibility_integral: 24.370
- corridor_availability: 0.888
- reocclusion_rate: 0.015
- persistence_horizon_mae: 1.414
- disturbance_cost: 0.430
no_reveal_state_head
- mean_success: 0.611
- visibility_integral: 25.962
- corridor_availability: 0.839
- reocclusion_rate: 0.000
- persistence_horizon_mae: 0.000
- disturbance_cost: 0.437
no_world_model
- mean_success: 0.611
- visibility_integral: 25.962
- corridor_availability: 0.839
- reocclusion_rate: 0.000
- persistence_horizon_mae: 1.273
- disturbance_cost: 0.437
no_planner_reranking
- mean_success: 0.611
- visibility_integral: 25.962
- corridor_availability: 0.839
- reocclusion_rate: 0.000
- persistence_horizon_mae: 1.273
- disturbance_cost: 0.437
no_support_mode_conditioning
- mean_success: 0.722
- visibility_integral: 23.054
- corridor_availability: 0.870
- reocclusion_rate: 0.006
- persistence_horizon_mae: 1.380
- disturbance_cost: 0.425
no_wrist_cameras
- mean_success: 0.750
- visibility_integral: 20.127
- corridor_availability: 0.855
- reocclusion_rate: 0.011
- persistence_horizon_mae: 3.793
- disturbance_cost: 0.389
no_global_camera
- mean_success: 0.556
- visibility_integral: 30.977
- corridor_availability: 0.905
- reocclusion_rate: 0.006
- persistence_horizon_mae: 1.269
- disturbance_cost: 0.501