TOPPO reformulates PPO with critic balancing to address gradient ill-conditioning in multi-task RL and reports stronger mean and tail performance than SAC baselines on Meta-World+ using fewer parameters and steps.
Shikun Liu, Edward Johns, and Andrew J
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TOPPO: Rethinking PPO for Multi-Task Reinforcement Learning with Critic Balancing
TOPPO reformulates PPO with critic balancing to address gradient ill-conditioning in multi-task RL and reports stronger mean and tail performance than SAC baselines on Meta-World+ using fewer parameters and steps.