… Code and reproducible scripts are open-sourced in the repo. the core idea that really sticks is target decoupling: keep multi-timescale predictions on the critic for auxiliary representation learning, while the actor updates are driven only by long-horizon advantages. this separation seems to block… …
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… This is a security measure to prevent the model from being "copied" or "reverse-hacking." Although the model itself is open, the data may still contain sensitive information. …
… That is what I did with bimanual setup