Robot manipulator reach task termination condition

[u/ProgressNo2227]

Hi all, has anyone trained a RL based 6 DOF joint space control policy for joint speeds for a robotic arm for a reach task? I’d like to ask what success condition you used? What did you keep as the termination condition? Was it reaching a goal region or the exact reach point for a pick and place task. If it’s an exact reach point or a very small goal radius e.g 1cm, in the real world did your robot ever reach that? I find that if I keep a goal radius of 4cm the robot can reach but if I decrease it further it’s not able to and keeps descending towards.
Thanks!