Hierarchical supervisor-agent

Permanent actuator degradation evaluation

Fault: Actuator degradation
Duration: Permanent
Recovery mechanism: Hierarchical supervisor-agent

Experiment definition

The experiment evaluates Hierarchical supervisor-agent 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 hierarchical supervisor agent graph — Experimental evaluation trajectory under permanent actuator degradation (stuck mode onset at step 40) with Hierarchical Supervisor-Agent active. Shows sorting purity, container fill levels, 16769 total material processed, and final cumulative rewards (53.11).

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.