Table 3.

Experimental setup

Sim (Nrep = 30)	Nparams	$t_{total}\left[\min \right]$	ttrial[s]	Ntrials	Nsamples/trial	Nsamples
ISO	2 ⋅ k	300	120	150	600	90,000
WO	$k+\mid \mathcal{N}\mid$	900	60	300 × 3	1	900
PPO	2 (512k + 2562)	900	60	300 × 3	600	540,000

Real (Nrep = 3)	Nparams	$t_{real}\left[\min \right]$	ttrial[s]	Ntrials	Nsamples/trial	Nsamples
ISO	2 ⋅ k	15	120	5	≤600	≤3000