Same 25 seeds and goal in every column. B = published frictionless environment. A/C/D/E = pymunk-wall, contact_friction 0.5 between pusher and T, nothing else changed. Brains: rule (B, A), Brain-contact1 (C), Brain-contact2 closed loop (D1), + near-goal trim release (D2, adopted), contact3 in-contact gain (E, not adopted). Full write-up: contact_friction_study.
| metric | B | A | C | D1 | D2 | E |
|---|---|---|---|---|---|---|
| solved | 2 | 3 | 1 | 3 | 4 | 3 |
| cov_ge_95 | 2 | 3 | 1 | 3 | 4 | 3 |
| cov_mean | 0.613 | 0.582 | 0.640 | 0.571 | 0.653 | 0.631 |
| cov_median | 0.713 | 0.469 | 0.725 | 0.458 | 0.712 | 0.712 |
| cov_q25 | 0.375 | 0.358 | 0.390 | 0.356 | 0.398 | 0.360 |
| cov_q75 | 0.918 | 0.918 | 0.905 | 0.818 | 0.847 | 0.836 |
| angle_final_mean | 20.2 | 27.6 | 16.8 | 16.1 | 23.1 | 25.9 |
| pos_final_mean | 17.6 | 23.7 | 12.8 | 16.3 | 9.8 | 11.0 |
| bouts_mean | 3.6 | 4.0 | 3.7 | 3.6 | 3.6 | 3.6 |
| plans_mean | 4.2 | 4.6 | 4.4 | 4.2 | 4.3 | 4.3 |
| peak_speed_mean | 114 | 114 | 114 | 114 | 114 | 114 |
| seed | B · reference μ=0pymunk-reference, rule brain | A · wall μ=0.5pymunk-wall, same rule brain | C · Brain-contact1pymunk-wall, contact1 | D1 · Brain-contact2pymunk-wall, contact2 (closed loop) | D2 · contact2 + trim ★ defaultpymunk-wall, contact2 + trim release (adopted) | E · contact3pymunk-wall, in-contact gain (not adopted) |
|---|---|---|---|---|---|---|
| 2103flipped, moderate | not solved · cov 0.370 · 46° / 9 px · 4 bouts | not solved · cov 0.358 · 52° / 13 px · 4 bouts | not solved · cov 0.441 · 40° / 21 px · 4 bouts | not solved · cov 0.441 · 40° / 21 px · 4 bouts | not solved · cov 0.379 · 48° / 16 px · 4 bouts | not solved · cov 0.360 · 81° / 18 px · 4 bouts |
| 2228mixed, far, near a wall | SOLVED @149 · cov 0.981 · 1° / 0 px · 3 bouts | not solved · cov 0.927 · 4° / 0 px · 4 bouts | not solved · cov 0.872 · 5° / 3 px · 3 bouts | not solved · cov 0.872 · 5° / 3 px · 3 bouts | not solved · cov 0.872 · 5° / 3 px · 3 bouts | not solved · cov 0.872 · 5° / 3 px · 3 bouts |
| 11980flipped, far | SOLVED @188 · cov 0.952 · 1° / 2 px · 3 bouts | not solved · cov 0.918 · 3° / 3 px · 3 bouts | not solved · cov 0.945 · 2° / 2 px · 3 bouts | SOLVED @183 · cov 0.962 · 1° / 1 px · 3 bouts | SOLVED @183 · cov 0.962 · 1° / 1 px · 3 bouts | SOLVED @183 · cov 0.962 · 1° / 1 px · 3 bouts |
| 16370flipped, far, near a wall | not solved · cov 0.713 · 6° / 10 px · 3 bouts | not solved · cov 0.492 · 12° / 21 px · 3 bouts | not solved · cov 0.645 · 13° / 18 px · 3 bouts | not solved · cov 0.613 · 19° / 19 px · 3 bouts | not solved · cov 0.613 · 19° / 19 px · 3 bouts | not solved · cov 0.613 · 19° / 19 px · 3 bouts |
| 18033flipped, near | not solved · cov 0.612 · 23° / 16 px · 4 bouts | not solved · cov 0.440 · 37° / 30 px · 5 bouts | not solved · cov 0.477 · 30° / 5 px · 5 bouts | not solved · cov 0.513 · 25° / 8 px · 5 bouts | not solved · cov 0.292 · 72° / 12 px · 5 bouts | not solved · cov 0.311 · 67° / 16 px · 5 bouts |
| 31775inverted, moderate | not solved · cov 0.292 · 58° / 13 px · 4 bouts | not solved · cov 0.293 · 78° / 4 px · 4 bouts | not solved · cov 0.304 · 68° / 3 px · 4 bouts | not solved · cov 0.304 · 68° / 3 px · 4 bouts | not solved · cov 0.359 · 100° / 8 px · 4 bouts | not solved · cov 0.359 · 100° / 8 px · 4 bouts |
| 32063mixed, far | not solved · cov 0.746 · 0° / 11 px · 3 bouts | SOLVED @177 · cov 0.969 · 1° / 1 px · 4 bouts | not solved · cov 0.905 · 5° / 0 px · 4 bouts | not solved · cov 0.458 · 5° / 27 px · 3 bouts | not solved · cov 0.820 · 3° / 8 px · 3 bouts | not solved · cov 0.820 · 3° / 8 px · 3 bouts |
| 35669mixed, far, near a wall | not solved · cov 0.184 · 5° / 45 px · 4 bouts | not solved · cov 0.092 · 5° / 63 px · 3 bouts | not solved · cov 0.390 · 6° / 35 px · 3 bouts | not solved · cov 0.390 · 6° / 35 px · 3 bouts | not solved · cov 0.732 · 4° / 13 px · 3 bouts | not solved · cov 0.732 · 4° / 13 px · 3 bouts |
| 39679mixed, moderate | not solved · cov 0.939 · 0° / 3 px · 4 bouts | not solved · cov 0.894 · 2° / 4 px · 3 bouts | not solved · cov 0.797 · 1° / 8 px · 3 bouts | not solved · cov 0.818 · 0° / 9 px · 3 bouts | SOLVED @193 · cov 0.984 · 0° / 1 px · 4 bouts | not solved · cov 0.780 · 4° / 11 px · 4 bouts |
| 44177mixed, far | not solved · cov 0.918 · 0° / 3 px · 4 bouts | SOLVED @129 · cov 0.969 · 0° / 1 px · 3 bouts | not solved · cov 0.914 · 4° / 2 px · 4 bouts | not solved · cov 0.346 · 1° / 32 px · 4 bouts | not solved · cov 0.712 · 1° / 12 px · 4 bouts | not solved · cov 0.712 · 1° / 12 px · 4 bouts |
| 45997flipped, far | not solved · cov 0.175 · 19° / 50 px · 2 bouts | not solved · cov 0.191 · 19° / 46 px · 2 bouts | not solved · cov 0.191 · 19° / 46 px · 2 bouts | not solved · cov 0.191 · 19° / 46 px · 2 bouts | not solved · cov 0.191 · 19° / 46 px · 2 bouts | not solved · cov 0.191 · 19° / 46 px · 2 bouts |
| 52463aligned, far, near a wall | not solved · cov 0.904 · 2° / 4 px · 4 bouts | not solved · cov 0.891 · 5° / 2 px · 4 bouts | not solved · cov 0.930 · 4° / 0 px · 4 bouts | not solved · cov 0.355 · 1° / 34 px · 3 bouts | not solved · cov 0.836 · 2° / 7 px · 4 bouts | not solved · cov 0.836 · 2° / 7 px · 4 bouts |
| 57580mixed, far | not solved · cov 0.935 · 2° / 1 px · 4 bouts | not solved · cov 0.909 · 5° / 0 px · 5 bouts | not solved · cov 0.749 · 2° / 13 px · 4 bouts | not solved · cov 0.333 · 14° / 32 px · 4 bouts | not solved · cov 0.799 · 0° / 8 px · 4 bouts | not solved · cov 0.783 · 0° / 9 px · 4 bouts |
| 64785mixed, far, near a wall | not solved · cov 0.795 · 9° / 5 px · 3 bouts | not solved · cov 0.897 · 2° / 4 px · 3 bouts | not solved · cov 0.847 · 6° / 3 px · 3 bouts | not solved · cov 0.847 · 6° / 3 px · 3 bouts | not solved · cov 0.847 · 6° / 3 px · 3 bouts | not solved · cov 0.847 · 6° / 3 px · 3 bouts |
| 67870mixed, far | not solved · cov 0.834 · 1° / 7 px · 4 bouts | SOLVED @178 · cov 0.971 · 1° / 1 px · 4 bouts | not solved · cov 0.934 · 1° / 3 px · 4 bouts | not solved · cov 0.934 · 1° / 3 px · 4 bouts | not solved · cov 0.934 · 1° / 3 px · 4 bouts | not solved · cov 0.934 · 1° / 3 px · 4 bouts |
| 68814flipped, far | not solved · cov 0.375 · 38° / 29 px · 3 bouts | not solved · cov 0.395 · 42° / 33 px · 3 bouts | not solved · cov 0.382 · 31° / 28 px · 3 bouts | not solved · cov 0.398 · 40° / 2 px · 3 bouts | not solved · cov 0.398 · 40° / 2 px · 3 bouts | not solved · cov 0.351 · 56° / 13 px · 3 bouts |
| 75204inverted, moderate | not solved · cov 0.413 · 39° / 9 px · 4 bouts | not solved · cov 0.371 · 50° / 31 px · 5 bouts | not solved · cov 0.496 · 31° / 3 px · 4 bouts | not solved · cov 0.584 · 24° / 2 px · 4 bouts | not solved · cov 0.330 · 53° / 5 px · 4 bouts | not solved · cov 0.315 · 58° / 6 px · 4 bouts |
| 75263flipped, near | not solved · cov 0.281 · 6° / 37 px · 4 bouts | not solved · cov 0.351 · 32° / 34 px · 5 bouts | not solved · cov 0.390 · 20° / 32 px · 5 bouts | not solved · cov 0.356 · 5° / 35 px · 5 bouts | not solved · cov 0.430 · 41° / 10 px · 4 bouts | not solved · cov 0.421 · 39° / 3 px · 4 bouts |
| 79092mixed, far | not solved · cov 0.932 · 2° / 3 px · 3 bouts | not solved · cov 0.931 · 2° / 3 px · 3 bouts | SOLVED @186 · cov 0.970 · 0° / 1 px · 3 bouts | SOLVED @186 · cov 0.970 · 0° / 1 px · 3 bouts | SOLVED @186 · cov 0.970 · 0° / 1 px · 3 bouts | SOLVED @186 · cov 0.970 · 0° / 1 px · 3 bouts |
| 81358aligned, moderate | not solved · cov 0.937 · 3° / 0 px · 6 bouts | not solved · cov 0.931 · 4° / 0 px · 4 bouts | not solved · cov 0.931 · 3° / 0 px · 5 bouts | SOLVED @123 · cov 0.952 · 2° / 2 px · 3 bouts | SOLVED @123 · cov 0.952 · 2° / 2 px · 3 bouts | SOLVED @123 · cov 0.952 · 2° / 2 px · 3 bouts |
| 81400inverted, far | not solved · cov 0.419 · 26° / 32 px · 4 bouts | not solved · cov 0.469 · 34° / 25 px · 4 bouts | not solved · cov 0.230 · 13° / 38 px · 3 bouts | not solved · cov 0.446 · 0° / 28 px · 4 bouts | not solved · cov 0.689 · 18° / 12 px · 4 bouts | not solved · cov 0.443 · 40° / 18 px · 4 bouts |
| 87949mixed, far, near a wall | not solved · cov 0.815 · 8° / 6 px · 5 bouts | not solved · cov 0.389 · 13° / 35 px · 5 bouts | not solved · cov 0.386 · 11° / 35 px · 5 bouts | not solved · cov 0.386 · 11° / 35 px · 5 bouts | not solved · cov 0.518 · 16° / 16 px · 5 bouts | not solved · cov 0.518 · 16° / 16 px · 5 bouts |
| 89650mixed, far, near a wall | not solved · cov 0.000 · 74° / 124 px · 2 bouts | not solved · cov 0.000 · 75° / 125 px · 2 bouts | not solved · cov 0.725 · 9° / 8 px · 4 bouts | not solved · cov 0.650 · 12° / 10 px · 4 bouts | not solved · cov 0.650 · 12° / 10 px · 4 bouts | not solved · cov 0.650 · 12° / 10 px · 4 bouts |
| 91922inverted, moderate | not solved · cov 0.405 · 91° / 13 px · 4 bouts | not solved · cov 0.445 · 108° / 4 px · 4 bouts | not solved · cov 0.345 · 93° / 5 px · 4 bouts | not solved · cov 0.345 · 93° / 5 px · 4 bouts | not solved · cov 0.240 · 107° / 19 px · 4 bouts | not solved · cov 0.240 · 107° / 19 px · 4 bouts |
| 98135flipped, far, near a wall | not solved · cov 0.390 · 45° / 7 px · 3 bouts | not solved · cov 0.047 · 106° / 110 px · 10 bouts | not solved · cov 0.810 · 4° / 8 px · 4 bouts | not solved · cov 0.810 · 4° / 8 px · 4 bouts | not solved · cov 0.810 · 4° / 8 px · 4 bouts | not solved · cov 0.810 · 4° / 8 px · 4 bouts |