← All RL teachersOne teacher • motion experiment
Lift-Cube: speed & smoothness
Compare the original teacher with the motion trial on the same three starting conditions. Every video plays at 1× real time, 50 fps. These episodes were selected before evaluating the trial.
Motion targets not met — further Lift tuning needed
Trial success: 25/128 validation · Not qualified / not run independent confirmation.
The original teacher passed 118/128 and 117/128. Other teachers remain paused pending your review.
Motion across all 128 evaluation episodes
Values are the 95th percentile of episode measurements, including failures. Acceleration is estimated from recorded 20 ms velocity samples. A target step is the change in commanded joint angle, not physical joint travel.
| Measurement | Original | Motion trial |
|---|
| Peak joint speed | 8.07 rad/s | 7.70 rad/s |
| Acceleration estimate | 58.92 rad/s² | 58.55 rad/s² |
| Largest target step | 4.56 rad | 4.61 rad |
Episode 1
Original teacher Task succeeded
Motion trial Task failed
Episode 2
Original teacher Task succeeded
Motion trial Task succeeded
Episode 3
Original teacher Task succeeded
Motion trial Task succeeded
The physical task, success rules, 20-second episode limit, observations and action interface are unchanged. The trial changes only training rewards for motion. The original checkpoint is retained.