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.
The full 4-metric breakdown of every reported configuration is in Table D.10, cross-paper convention conversions are in Section D.7, and per-task breakdowns are in Section D.6
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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.