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 |
Bold values indicate parameters that differ from the default.