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Benchmarks
Robotic Gear Assembly on Contact-rich gear assembly Hardware deployment (test)
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53.4
Fmax [N]
PPO
20.224
28.837
37.45
46.063
Jun 26, 2026
Fmax [N]
tau_max [Nm]
Ts [s]
etrack [m]
eh [m]
Updated 27d ago
Evaluation Results
Method
Method
Links
Fmax [N]
tau_max [Nm]
Ts [s]
etrack [m]
eh [m]
PPO
2026.06
53.4
3
9.1
0.012
0.01
PPO-EAL
2026.06
28.7
3
11.3
0.0079
0.0097
PPO-EAL-m
Momentum-regulated=true
2026.06
21.5
2.6
9.3
0.008
0.0099
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