| Requirement | Required Metric | Achieved Metric |
| PM 4.1 | Robot must stay inside valid zone 100% of the time | Robot stays inside valid zone 100% of the time |
| PM 4.2 | Speed of robot movement must be greater than 0.17m/s | Speed of robot movement is 0.2m/s |
| PM 2.4 | At least 80% of the creosote must be correctly identified | Testbed: 91.1% accuracy on 13 images. Factory: 81.6% accuracy on 14 images |
| PM 3.1 | The arm path must cover at least 80% of the area with identified creosote | Visually confirmed to cover >95% of area identified with creosote |
| PM 3.2 | Movement plan must stay inside valid zones 100% of the time | Simulation constraints prevent collisions, staying in valid configurations 100% of the time |
| PM 5.2 | Bronze level must be achieved for at least 80% of the creosote-covered area | Visually confirmed to clean >80% of creosote-covered area using creosote substitute |