Table 3.

The robot used the learned actions to perform three tasks: facing the object, approaching the object and moving the object. The columns indicate the initial distance to the goal, the final distance from the goal and elapsed time. Each task was performed ten times, and the results are shown with the standard deviations. The goal was achieved on every trial.

Behavior	Goal	Distance	Accuracy	Time (s)
Face	|angle(τ) − 90| < 10	45 °	7.4° (σ=3)	4.38 (σ=.51)
Approach	distance(τ) < 1	1.8 m	.04 m (σ=.02)	21.1 (σ=5.7)
Move	∥location(τ) − (3,2)∥ < .15	2.0 m	.09 m (σ=.04)	258 (σ=138)