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Benchmarks
Reaching on Kinematic-simulation n=1000 targets
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100
Success Rate (%)
Min-jerk
68.696
76.823
84.95
93.077
Jun 14, 2026
Success Rate (%)
Energy Consumption (J) (All Episodes)
Energy Consumption (J) (Successes Only)
Episode Duration (s)
Final Position Error (cm)
Final Orientation Error (°)
Smoothness (MSJ) (rad² s⁻⁶)
Action Saturation (%)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Success Rate (%)
Energy Consumption (J) (All Episodes)
Energy Consumption (J) (Successes Only)
Episode Duration (s)
Final Position Error (cm)
Final Orientation Error (°)
Smoothness (MSJ) (rad² s⁻⁶)
Action Saturation (%)
Min-jerk
policy=closed-form tra...
2026.06
100
22
21.95
1.276
-
7.88
2
12.1
RL (SAC)
policy=deterministic,...
2026.06
69.9
163.7
98.16
1.542
-
16.49
1.31
24.6
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