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There are four evaluation metrics. SR, GC, and PLW version of these two. Success Rate only consider the result of the task success, which is defined as 1 if the object positions and state changes correspond correctly to the task goal-conditions at the end of the action sequence, and 0 otherwise. In contrast, the goal condition success is the ratio of goal conditions completed at the end of the episode. PLW SR and PLW GC are the Path-weighted version of both metrics that considers the length of the agent’s demonstration.
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IEEE/ICACT20230029 Slide.03
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