Asymmetric Actor-Critic criticized for blocking gradients and causing robot gait issues
yacineMTB · x · 2026-09-01
The author criticizes the Asymmetric Actor-Critic (AAC) architecture in robot training, labeling it as bloat that hinders gradient flow and leads to the model learning incorrect gaits like shuffling. They advocate for symmetric architectures instead.
Related event: Asymmetric Actor-Critic Architecture Draws Criticism in Robot RL(2 posts)→
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