Paper:
Biological and artificial agents must learn to act optimally in spite of a limited capacity for processing, storing, and attending to information. We formalize this type of bounded rationality in terms of an information-theoretic constraint on the complexity of policies that agents seek to learn. We present the Capacity-Limited Reinforcement Learning (CLRL) objective which defines an optimal policy subject to an information capacity constraint. This objective is optimized by drawing from methods used in rate distortion theory and information theory, and applied to the reinforcement learning setting. Using this objective we implement a novel Capacity-Limited Actor-Critic (CLAC) algorithm and situate it within a broader family of RL algorithms such as the Soft Actor Critic (SAC) and discuss their similarities and differences. Our experiments show that compared to alternative approaches, CLAC offers improvements in generalization between training and modified test environments. This is achieved in the CLAC model while displaying high sample efficiency and minimal requirements for hyper-parameter tuning.

Review:
The authors propose capacity-limited reinforcement learning and apply an actor-critic method (CLAC) in some continuous control domains. The authors claim that CLAC gives improvements in generalization from training to modified test environments, and that it shows high sample efficiency and requires minimal hyper-parameter tuning.
The introduction started off making me think about this area in a new way, but as the paper continued I started to find some issues. To begin with, I think the motivation in the introduction could be improved. Why would I choose to limit capacity? This is not sufficiently motivated. I suspect that the author(s) want to argue that it *should* give better generalization, but this argument is not made very clearly in the introduction. Perhaps this is because it would be difficult to make this argument formally, and so it is merely suggested at?
Are there connections between this and things like variational intrinsic control (VIC, Gregor et al. 2016) and diversity is all you need (DIAYN, Eysenbach et al., 2019)? These works aim to maximize the mutual information between latent variable policies and states/trajectories, whereas this work is really doing the opposite. I would be interested in understanding the author’s take on how the two are related conceptually.
Moving to the connections with past work, this paper seriously abuses notation in a way that actually hinders comprehension. Some of the parts that really bothered me, and should be fixed to be correct:
Mutual information is a function of two random variables, whereas it is repeatedly expressed as a function of the policy. Being explicit about the random variables / distribution here is pretty important.
In Equation 2 (and subsequent paragraph) the marginal distributions p_a(a) and p_s(s) are not well defined, marginalizing over what, what are these distributions? I might guess that p_s(s) is the steady state distribution under a policy pi, and that p_a(a) is marginalizing over the same distribution, essentially capturing the prior probability of each action under the policy. But these sort of things need to be said explicitly.
In KL-RL section there is a sentence with “This allows us to define KL-RL to be the case where p_0(a, s) = \pi_0(a_t | s_t).” What does this actually mean? One of these is a joint probability for state and action, and one is an action probability conditional on a state. 
What does \pi_\mu(a_t) \sim \mathcal{D} mean? 
In the block just before Algorithm 1, many of these symbols are never defined. This needs a significant amount of care (by the authors) and right now relies on the reader to simply make a best guess at what the authors probably intend.
Overall in the first three sections the message I would like the authors to understand is that, in striving for a concise explanation they have significantly overshot. These sections require some significant work to be considered publishable.
The experiment in section 4.1 is intended to give a clean intuitive understanding of the method, but falls a bit short here. It is clean, but I needed more explanation to really drive the intuition home. I see that CLAC finds a solution more sensitive to the beta distribution, but help me understand why this is the right solution in this particular case.
I really disagree with the conclusions around the experiments in section 4.2. I do not think these results show that for the CLAC model increasing the mutual information coefficient increases performance on the perturbed environments. First, the obvious, how many seeds and where are the standard deviations? Second, the trend is extremely small and the gap between CLAC and SAC is just as minor. Finally, CLAC has better performance on the training distribution which means that it actually lost *more* performance than SAC when transferring to the testing and extreme testing distributions.
The results for section 4.3 are just not significant enough to draw any real conclusions. The massive temporal variability makes me very suspicious of those super tight error bands, but even without that question, the gap is just not very large.
Finally, in section 4.4 we see the first somewhat convincing experimental results. These look reasonable, but even here I have a fairly pointed question: compared with the results in Packer et al (2018) the amount of regression from training to testing is extremely large (whereas they found vanilla algorithms transfer surprisingly well). Can you explain why there is such a big discrepancy between those results and these? But again, this section’s results are in my opinion the most convincing that something interesting is happening here.
Lastly, in section 8.1 the range of hyper-parameters for the mutual information coefficient is very broad, which really makes it hard to buy the claim of requiring minimal hyper-parameter tuning.
All in all there is something truly interesting in this work, but in the present state I am unable to recommend acceptance, and the amount of work required along with questions raised lead me to be fairly confident in this assessment.