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Update Acrobot Robustness Leaderboard
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data/acrobot/robustness_v2/ar_eapo/benchmark_parameters.yml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,399 @@ | ||
| Q: | ||
| - - 1.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - - 0.0 | ||
| - 1.0 | ||
| - 0.0 | ||
| - 0.0 | ||
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| - 0.0 | ||
| - 0.01 | ||
| - 0.0 | ||
| - - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.01 | ||
| Qf: | ||
| - - 100.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - - 0.0 | ||
| - 100.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - - 0.0 | ||
| - 0.0 | ||
| - 10.0 | ||
| - 0.0 | ||
| - - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 10.0 | ||
| R: | ||
| - - 1.0 | ||
| - 0.0 | ||
| - - 0.0 | ||
| - 1.0 | ||
| check_only_final_state: true | ||
| compute_delay_robustness: true | ||
| compute_model_robustness: true | ||
| compute_noise_robustness: true | ||
| compute_perturbation_robustness: true | ||
| compute_unoise_robustness: true | ||
| compute_uresponsiveness_robustness: true | ||
| delay_mode: posvel | ||
| delays: | ||
| - 0.0 | ||
| - 0.002 | ||
| - 0.004 | ||
| - 0.006 | ||
| - 0.008 | ||
| - 0.01 | ||
| - 0.012 | ||
| - 0.014 | ||
| - 0.016 | ||
| - 0.018000000000000002 | ||
| - 0.02 | ||
| - 0.022 | ||
| - 0.024 | ||
| - 0.026000000000000002 | ||
| - 0.028 | ||
| - 0.03 | ||
| - 0.032 | ||
| - 0.034 | ||
| - 0.036000000000000004 | ||
| - 0.038 | ||
| - 0.04 | ||
| dt: 0.002 | ||
| epsilon: | ||
| - 0.35 | ||
| - 0.35 | ||
| - 1.0 | ||
| - 1.0 | ||
| goal: | ||
| - 3.141592653589793 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| goal_check_method: epsilon | ||
| goal_check_method_height: 0.9 | ||
| integrator: runge_kutta | ||
| meas_noise_mode: vel | ||
| meas_noise_sigma_list: | ||
| - 0.0 | ||
| - 0.025 | ||
| - 0.05 | ||
| - 0.07500000000000001 | ||
| - 0.1 | ||
| - 0.125 | ||
| - 0.15000000000000002 | ||
| - 0.17500000000000002 | ||
| - 0.2 | ||
| - 0.225 | ||
| - 0.25 | ||
| - 0.275 | ||
| - 0.30000000000000004 | ||
| - 0.325 | ||
| - 0.35000000000000003 | ||
| - 0.375 | ||
| - 0.4 | ||
| - 0.42500000000000004 | ||
| - 0.45 | ||
| - 0.47500000000000003 | ||
| - 0.5 | ||
| modelpar_var_lists: | ||
| I1: | ||
| - 0.023915399693634834 | ||
| - 0.024712579683422664 | ||
| - 0.025509759673210494 | ||
| - 0.026306939662998317 | ||
| - 0.027104119652786147 | ||
| - 0.027901299642573974 | ||
| - 0.028698479632361804 | ||
| - 0.02949565962214963 | ||
| - 0.030292839611937458 | ||
| - 0.031090019601725284 | ||
| - 0.031887199591513114 | ||
| - 0.03268437958130094 | ||
| - 0.033481559571088775 | ||
| - 0.0342787395608766 | ||
| - 0.03507591955066443 | ||
| - 0.03587309954045225 | ||
| - 0.03667027953024008 | ||
| - 0.03746745952002791 | ||
| - 0.038264639509815734 | ||
| - 0.039061819499603564 | ||
| - 0.039858999489391395 | ||
| I2: | ||
| - 0.038152386096054425 | ||
| - 0.03942413229925624 | ||
| - 0.04069587850245806 | ||
| - 0.041967624705659866 | ||
| - 0.04323937090886168 | ||
| - 0.0445111171120635 | ||
| - 0.045782863315265314 | ||
| - 0.04705460951846713 | ||
| - 0.04832635572166894 | ||
| - 0.049598101924870755 | ||
| - 0.05086984812807257 | ||
| - 0.052141594331274375 | ||
| - 0.053413340534476196 | ||
| - 0.05468508673767801 | ||
| - 0.05595683294087983 | ||
| - 0.05722857914408164 | ||
| - 0.05850032534728345 | ||
| - 0.05977207155048527 | ||
| - 0.06104381775368708 | ||
| - 0.0623155639568889 | ||
| - 0.06358731016009071 | ||
| Ir: | ||
| - 0.0 | ||
| - 5.0e-06 | ||
| - 1.0e-05 | ||
| - 1.5000000000000002e-05 | ||
| - 2.0e-05 | ||
| - 2.5e-05 | ||
| - 3.0000000000000004e-05 | ||
| - 3.5000000000000004e-05 | ||
| - 4.0e-05 | ||
| - 4.5e-05 | ||
| - 5.0e-05 | ||
| - 5.5e-05 | ||
| - 6.000000000000001e-05 | ||
| - 6.500000000000001e-05 | ||
| - 7.000000000000001e-05 | ||
| - 7.500000000000001e-05 | ||
| - 8.0e-05 | ||
| - 8.5e-05 | ||
| - 9.0e-05 | ||
| - 9.5e-05 | ||
| - 0.0001 | ||
| b1: | ||
| - -0.1 | ||
| - -0.09000000000000001 | ||
| - -0.08 | ||
| - -0.07 | ||
| - -0.060000000000000005 | ||
| - -0.05 | ||
| - -0.04000000000000001 | ||
| - -0.03 | ||
| - -0.020000000000000004 | ||
| - -0.010000000000000009 | ||
| - 0.0 | ||
| - 0.009999999999999995 | ||
| - 0.01999999999999999 | ||
| - 0.03 | ||
| - 0.04000000000000001 | ||
| - 0.04999999999999999 | ||
| - 0.06 | ||
| - 0.07 | ||
| - 0.07999999999999999 | ||
| - 0.09 | ||
| - 0.1 | ||
| b2: | ||
| - -0.1 | ||
| - -0.09000000000000001 | ||
| - -0.08 | ||
| - -0.07 | ||
| - -0.060000000000000005 | ||
| - -0.05 | ||
| - -0.04000000000000001 | ||
| - -0.03 | ||
| - -0.020000000000000004 | ||
| - -0.010000000000000009 | ||
| - 0.0 | ||
| - 0.009999999999999995 | ||
| - 0.01999999999999999 | ||
| - 0.03 | ||
| - 0.04000000000000001 | ||
| - 0.04999999999999999 | ||
| - 0.06 | ||
| - 0.07 | ||
| - 0.07999999999999999 | ||
| - 0.09 | ||
| - 0.1 | ||
| cf1: | ||
| - -0.2 | ||
| - -0.18000000000000002 | ||
| - -0.16 | ||
| - -0.14 | ||
| - -0.12000000000000001 | ||
| - -0.1 | ||
| - -0.08000000000000002 | ||
| - -0.06 | ||
| - -0.04000000000000001 | ||
| - -0.020000000000000018 | ||
| - 0.0 | ||
| - 0.01999999999999999 | ||
| - 0.03999999999999998 | ||
| - 0.06 | ||
| - 0.08000000000000002 | ||
| - 0.09999999999999998 | ||
| - 0.12 | ||
| - 0.14 | ||
| - 0.15999999999999998 | ||
| - 0.18 | ||
| - 0.2 | ||
| cf2: | ||
| - -0.2 | ||
| - -0.18000000000000002 | ||
| - -0.16 | ||
| - -0.14 | ||
| - -0.12000000000000001 | ||
| - -0.1 | ||
| - -0.08000000000000002 | ||
| - -0.06 | ||
| - -0.04000000000000001 | ||
| - -0.020000000000000018 | ||
| - 0.0 | ||
| - 0.01999999999999999 | ||
| - 0.03999999999999998 | ||
| - 0.06 | ||
| - 0.08000000000000002 | ||
| - 0.09999999999999998 | ||
| - 0.12 | ||
| - 0.14 | ||
| - 0.15999999999999998 | ||
| - 0.18 | ||
| - 0.2 | ||
| m1r1: | ||
| - 0.07851903453465406 | ||
| - 0.08113633568580919 | ||
| - 0.08375363683696434 | ||
| - 0.08637093798811946 | ||
| - 0.0889882391392746 | ||
| - 0.09160554029042974 | ||
| - 0.09422284144158487 | ||
| - 0.09684014259274001 | ||
| - 0.09945744374389513 | ||
| - 0.10207474489505028 | ||
| - 0.10469204604620541 | ||
| - 0.10730934719736054 | ||
| - 0.10992664834851569 | ||
| - 0.11254394949967081 | ||
| - 0.11516125065082596 | ||
| - 0.11777855180198109 | ||
| - 0.12039585295313622 | ||
| - 0.12301315410429137 | ||
| - 0.1256304552554465 | ||
| - 0.12824775640660163 | ||
| - 0.13086505755775676 | ||
| m2: | ||
| - 0.4691757925630828 | ||
| - 0.4848149856485189 | ||
| - 0.500454178733955 | ||
| - 0.5160933718193911 | ||
| - 0.5317325649048271 | ||
| - 0.5473717579902633 | ||
| - 0.5630109510756993 | ||
| - 0.5786501441611355 | ||
| - 0.5942893372465715 | ||
| - 0.6099285303320076 | ||
| - 0.6255677234174437 | ||
| - 0.6412069165028798 | ||
| - 0.6568461095883159 | ||
| - 0.672485302673752 | ||
| - 0.6881244957591881 | ||
| - 0.7037636888446241 | ||
| - 0.7194028819300602 | ||
| - 0.7350420750154963 | ||
| - 0.7506812681009324 | ||
| - 0.7663204611863687 | ||
| - 0.7819596542718046 | ||
| m2r2: | ||
| - 0.1199649914324769 | ||
| - 0.12396382448022612 | ||
| - 0.12796265752797537 | ||
| - 0.13196149057572457 | ||
| - 0.13596032362347382 | ||
| - 0.13995915667122305 | ||
| - 0.14395798971897228 | ||
| - 0.1479568227667215 | ||
| - 0.15195565581447074 | ||
| - 0.15595448886221996 | ||
| - 0.1599533219099692 | ||
| - 0.16395215495771842 | ||
| - 0.16795098800546765 | ||
| - 0.17194982105321688 | ||
| - 0.17594865410096613 | ||
| - 0.17994748714871533 | ||
| - 0.18394632019646456 | ||
| - 0.18794515324421382 | ||
| - 0.19194398629196302 | ||
| - 0.19594281933971228 | ||
| - 0.19994165238746148 | ||
| mpar_vars: | ||
| - Ir | ||
| - m1r1 | ||
| - I1 | ||
| - b1 | ||
| - cf1 | ||
| - m2r2 | ||
| - m2 | ||
| - I2 | ||
| - b2 | ||
| - cf2 | ||
| perturbation_amp_minmax: | ||
| - 0.5 | ||
| - 5.0 | ||
| perturbation_min_t_dist: 1.0 | ||
| perturbation_repetitions: 50 | ||
| perturbation_sigma_minmax: | ||
| - 0.05 | ||
| - 0.1 | ||
| perturbations_per_joint: 3 | ||
| repetitions: 10 | ||
| t_final: 10.0 | ||
| traj_following: false | ||
| u_noise_sigma_list: | ||
| - 0.0 | ||
| - 0.05500000000000001 | ||
| - 0.11000000000000001 | ||
| - 0.16500000000000004 | ||
| - 0.22000000000000003 | ||
| - 0.275 | ||
| - 0.33000000000000007 | ||
| - 0.38500000000000006 | ||
| - 0.44000000000000006 | ||
| - 0.49500000000000005 | ||
| - 0.55 | ||
| - 0.6050000000000001 | ||
| - 0.6600000000000001 | ||
| - 0.7150000000000001 | ||
| - 0.7700000000000001 | ||
| - 0.8250000000000001 | ||
| - 0.8800000000000001 | ||
| - 0.9350000000000002 | ||
| - 0.9900000000000001 | ||
| - 1.0450000000000002 | ||
| - 1.1 | ||
| u_responses: | ||
| - 0.1 | ||
| - 0.195 | ||
| - 0.29000000000000004 | ||
| - 0.385 | ||
| - 0.48 | ||
| - 0.575 | ||
| - 0.67 | ||
| - 0.765 | ||
| - 0.86 | ||
| - 0.955 | ||
| - 1.05 | ||
| - 1.145 | ||
| - 1.2400000000000002 | ||
| - 1.3350000000000002 | ||
| - 1.4300000000000002 | ||
| - 1.5250000000000001 | ||
| - 1.62 | ||
| - 1.715 | ||
| - 1.81 | ||
| - 1.905 | ||
| - 2.0 | ||
| x0: | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 |
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