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+# Network Architecture (MLP Pipeline per Module)
+
+In the decentralized architectures (arm-level and segment-level), each controller/module follows the same **shared MLP-based pipeline** inspired by NerveNet-style message passing. The pipeline consists of 5 MLPs (4 in the case of centralized, with no messager):
+
+- **INPUT_ACTOR**: Processes local observations for the actor branch.
+- **INPUT_CRITIC**: Processes local observations for the critic branch.
+- **MESSAGER**: Processes incoming hidden states from neighboring modules (via the chosen communication scheme) and produces an aggregated hidden state.
+- **ACTOR**: Takes the aggregated hidden state and outputs the action distribution (mean and log_std).
+- **CRITIC**: Takes the aggregated hidden state and outputs a scalar value estimate.
+
+## MLP Pipeline
+
+![MLP Pipeline - Actor-Critic with Message Passing](../img/mlp_pipe.png "MLP neural network pipeline per module")
+
+
+## Implementation Details Related To PPO
+
+Inspired by: https://iclr-blog-track.github.io/2022/03/25/ppo-implementation-details/
+
+For starters we will execute our tests with simple models. Each MLP will have only 1 hidden layer. This will be expanded as needed. The exceptions are the input networks / feature extractors — they will be given 2 hidden layers and 64 nodes per layer as advised in the blog. This might change as we make progress in our experiments.
+
+Our policy and value networks use separate networks as advised by the paper and the blog. For continuous actions this should allow better learning at a small cost.
+
+We use mean and log_std to represent the action distribution, because it is advised by previous research for learning stability and other reasons.
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