Fault-tolerant-trained MARL

Permanent actuator degradation evaluation

Fault: Actuator degradation
Duration: Permanent
Recovery mechanism: Fault-tolerant-trained MARL

Experiment definition

The experiment evaluates Fault-tolerant-trained MARL under a permanent actuator degradation injection. Fault onset is randomized around environment steps 40–60 according to the implementation plan.

Expected evaluation record

Metric	Recorded value
Time-to-recovery	—
Degradation-area	—
False-recovery rate	—
Safety-violation count	—

Experimental trajectory graph

Actuator degradation permanent fault with fault-tolerant trained MARL graph — Experimental evaluation trajectory under permanent actuator degradation (stuck mode onset at step 40) with Fault-Tolerant-Trained MARL active. Shows sorting purity, container fill levels, 2104 total material processed, and final cumulative rewards (-78.93).

Notes

This page is intentionally separated from the paper-facing results so that full-resolution plots, additional seeds, and diagnostic figures can be documented without overloading the publication.