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Method

The actor optimizes an objective that seamlessly unifies both critics using constrained optimization to (1) maximize return, while (2) executing diverse skills.

- QDAC Teaser + QDAC Teaser

- QDAC seamlessly unifies performance and behavior critics using constrained optimization to
(1) maximize return, while (2) executing diverse skills. + QDAC seamlessly unifies both critics using constrained optimization to
(1) maximize return, while (2) executing diverse skills.

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Update
Lagrange
Policy Improvement
Policy Evaluation
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