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style: Fix Markdown indentation

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Tibo De Peuter 2026-03-15 23:03:09 +01:00
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docs/design/learning_algorithm.md
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@ -17,11 +17,11 @@ failures.
Alternative learning algorithms include:
- **Twin Delayed DDPG (Fujimoto et al., 2018)**: TD3 is a strong off-policy alternative used in the SMP paper (Huang et
al., 2020). It is highly sample-efficient and reportedly excels at zero-shot adaptations. However, this approach would be
more complex and error-prone than with PPO.
al., 2020). It is highly sample-efficient and reportedly excels at zero-shot adaptations. However, this approach would
be more complex and error-prone than with PPO.
- **Evolution strategies (ES)**: Evolution strategies are useful for optimizing Central Pattern Generators (CPGs), e.g.
CMA-ES, OpenAI-ES. While this method is easier to distribute and parallelize, ES typically scales worse with
exceptionally large observation spaces compared to gradient-based RL methods like PPO.
CMA-ES, OpenAI-ES. While this method is easier to distribute and parallelize, ES typically scales worse with
exceptionally large observation spaces compared to gradient-based RL methods like PPO.
**References**