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(A) The worst unexperienced episode that scored the largest RMSE (0.0203) in the evaluation of Model 2. The solid lines are generated joint angles, and the broken lines indicate correct angles. (B) The worst unexperienced episode that scored the largest RMSE (0.0543) in the evaluation of Model 3. Only the five joints on the left arm are plotted, because the robot generated POINT-LEFT-FAST behavior in these episodes.
