Analysis of GAIL hyperparameters

For each environment, we sample 1000 different configurations of hyperparameters at random, and report statistics over the configurations.

Success rate learning curves

Hyperparameters influence breakdown

For each hyperparameter, we aggregate all configurations for each possible value of the hyperparameter and compute the following statistic:
the average of final success rate for the top 50% of configurations (since poorly performing configurations are uninformative). Some
plot bars are "missing", it is because the success rate is 0 for all configurations.

Analysis of discriminator number of layers

Analysis of discriminator number of hidden units per layer

Analysis of regularization

Analysis of discriminator input dropout rate

Analysis of discriminator hidden dropout rate

Analysis of observation normalization

Analysis of discriminator learning rate

Analysis of GAIL reward balance

Analysis of learning rate

Analysis of reward scale

Analysis of n step

Analysis of tau

Analysis of discriminator weight decay