Results
Size Reduction - Locomotion
Size Reduction - Locomotion
Ant
HalfCheetah
Hopper
Walker
Humanoid
Size Reduction - Manipulation
Size Reduction - Manipulation
FetchReach
FetchSlide
FetchPush
FetchPickAndPlace
For each task we see considerable decrease in network size required to achieve at least 90% performance.
Reward vs Capacity
Reward vs Capacity
Ant
HalfCheetah
Hopper
Walker
Humanoid
FetchReach
FetchSlide
FetchPush
FetchPickAndPlace
For each task reward seems to be correlated with the capacity metric for each MLP.