The experiment evaluates Hierarchical supervisor-agent under a permanent actuator degradation injection. Fault onset is randomized between environment steps 40 and 60.
Expected evaluation record
Metric
Recorded value
Degradation-area
23.63 ± 2.34 (corrected; mean ± 95% CI, n=216)
Safety-violation excess
116.9 ± 12.5 (weighted, control-subtracted; mean ± 95% CI, n=216)
Fraction of time healthy
0.581 ± 0.016 (mean ± 95% CI, n=216)
Relapse count
0.41 ± 0.07 (mean ± 95% CI, n=216)
False-recovery rate
0.255 ± 0.006 (mean ± 95% CI, n=216)
Intervention recall
0.723 ± 0.007 (mean ± 95% CI, n=216)
Values are means with 95% confidence intervals across every target × duration-fixed combination shown on this page (see graphs below), 8 evaluation seeds each, for each of 3 training seeds. See the Results page for the cross-mechanism comparison.
Experimental trajectory graphs
One representative run (evaluation seed 0 of 8, training seed 1 of 3) per target × mode combination from the full sweep. See the Results page for the multi-seed aggregate comparison across mechanisms. The graphs for every seed are archived at doi:10.5281/zenodo.23304785 (files available from 10 November 2026).
Sorting Agent Target (restrict mode)
Hierarchical supervisor-agent - Sorting Agent Target (restrict mode) - evaluation trajectory under permanent actuator degradation (fault onset randomized between steps 40-60), seed 0 of the 8-seed sweep, training seed 1 of 3.
Pressing Agent Target (restrict mode)
Hierarchical supervisor-agent - Pressing Agent Target (restrict mode) - evaluation trajectory under permanent actuator degradation (fault onset randomized between steps 40-60), seed 0 of the 8-seed sweep, training seed 1 of 3.
Both Agents Target (restrict mode)
Hierarchical supervisor-agent - Both Agents Target (restrict mode) - evaluation trajectory under permanent actuator degradation (fault onset randomized between steps 40-60), seed 0 of the 8-seed sweep, training seed 1 of 3.
Sorting Agent Target (slip mode)
Hierarchical supervisor-agent - Sorting Agent Target (slip mode) - evaluation trajectory under permanent actuator degradation (fault onset randomized between steps 40-60), seed 0 of the 8-seed sweep, training seed 1 of 3.
Pressing Agent Target (slip mode)
Hierarchical supervisor-agent - Pressing Agent Target (slip mode) - evaluation trajectory under permanent actuator degradation (fault onset randomized between steps 40-60), seed 0 of the 8-seed sweep, training seed 1 of 3.
Both Agents Target (slip mode)
Hierarchical supervisor-agent - Both Agents Target (slip mode) - evaluation trajectory under permanent actuator degradation (fault onset randomized between steps 40-60), seed 0 of the 8-seed sweep, training seed 1 of 3.
Sorting Agent Target (stuck mode)
Hierarchical supervisor-agent - Sorting Agent Target (stuck mode) - evaluation trajectory under permanent actuator degradation (fault onset randomized between steps 40-60), seed 0 of the 8-seed sweep, training seed 1 of 3.
Pressing Agent Target (stuck mode)
Hierarchical supervisor-agent - Pressing Agent Target (stuck mode) - evaluation trajectory under permanent actuator degradation (fault onset randomized between steps 40-60), seed 0 of the 8-seed sweep, training seed 1 of 3.
Both Agents Target (stuck mode)
Hierarchical supervisor-agent - Both Agents Target (stuck mode) - evaluation trajectory under permanent actuator degradation (fault onset randomized between steps 40-60), seed 0 of the 8-seed sweep, training seed 1 of 3.
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.
