Before revision:  Our results show that RD2 is able to achieve better performance than Ape-X DDPG and PPO with LSTM on partially observable tasks with varying complexity.
After revision:  Our results show that RD2 is able to solve two fundamental high-precision assembly tasks, lap-joint and peg-in-hole, and outperforms two state-of-the-art algorithms, Ape-X DDPG and PPO with LSTM on partially observable tasks with varying complexity.