Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation

Multi-objective reinforcement learning for humanoid robots must coordinate locomotion and manipulation within one policy. A natural design choice is between a single (unified) critic that estimates the combined value of all objectives and separate (dual) critics with disjoint reward signals. We compare the two on the Unitree G1 humanoid in NVIDIA Isaac Lab. In the standing mode of a standardized evaluation, the dual-critic run reaches targets 3.5x faster (6.5 vs. 22.6 simulation steps), achieves 2x the throughput (14.3 vs. 7.0 validated reaches per 1,000 steps) and a higher validated reach rate (65.2% vs. 53.8%) than the unified-critic run. That evaluation pins the fingers open for every ...

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