Pusher Environment Evaluation
100Convergence RateDAgger
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| DAggerInitial expert dataset size (M)=1,000, Training steps (Ttrain)=20002025.11 | 100 | 480,172 | 20,000 | |
| DAggerInitial expert dataset size (M)=2,000, Training steps (Ttrain)=20002025.11 | 100 | 34,075 | 20,000 | |
| DAggerInitial expert dataset size (M)=5,000, Training steps (Ttrain)=20002025.11 | 100 | 340,102 | 20,000 | |
| DAggerInitial expert dataset size (M)=10,000, Training steps (Ttrain)=20002025.11 | 100 | 700,141 | 20,000 | |
| DAggerInitial expert dataset size (M)=20,000, Training steps (Ttrain)=20002025.11 | 100 | 580,240 | 20,000 | |
| EnsembleInitial expert dataset size (M)=1,000, Training steps (Ttrain)=20002025.11 | 100 | 293,203 | 1,415,221 | |
| EnsembleInitial expert dataset size (M)=2,000, Training steps (Ttrain)=20002025.11 | 100 | 274,154 | 114,782 | |
| EnsembleInitial expert dataset size (M)=5,000, Training steps (Ttrain)=20002025.11 | 100 | 237,126 | 911,130 | |
| EnsembleInitial expert dataset size (M)=10,000, Training steps (Ttrain)=20002025.11 | 100 | 21,774 | 95,745 | |
| EnsembleInitial expert dataset size (M)=20,000, Training steps (Ttrain)=20002025.11 | 100 | 469,109 | 98,739 | |
| ThriftyInitial expert dataset size (M)=1,000, Training steps (Ttrain)=20002025.11 | 100 | 49,087 | 129,456 | |
| ThriftyInitial expert dataset size (M)=2,000, Training steps (Ttrain)=20002025.11 | 100 | 651,154 | 130,830 | |
| CRSAILInitial expert dataset size (M)=1,000, Training steps (Ttrain)=20002025.11 | 100 | 260,153 | 708,422 | |
| CRSAILInitial expert dataset size (M)=2,000, Training steps (Ttrain)=20002025.11 | 100 | 22,257 | 761,367 | |
| CRSAILInitial expert dataset size (M)=5,000, Training steps (Ttrain)=20002025.11 | 100 | 18,246 | 463,258 | |
| CRSAILInitial expert dataset size (M)=10,000, Training steps (Ttrain)=20002025.11 | 100 | 18,467 | 398,146 | |
| CRSAILInitial expert dataset size (M)=20,000, Training steps (Ttrain)=20002025.11 | 100 | 24,686 | 495,155 | |
| ThriftyInitial expert dataset size (M)=5,000, Training steps (Ttrain)=20002025.11 | 80 | 854,162 | 128,381 | |
| ThriftyInitial expert dataset size (M)=10,000, Training steps (Ttrain)=20002025.11 | 40 | 109,862 | 128,048 | |
| ThriftyInitial expert dataset size (M)=20,000, Training steps (Ttrain)=20002025.11 | 20 | 13,270 | 129,033 |