SOP Fleet Scaling to Larger Robot Fleets
Scaling Analysis of Actor-Learner Architecture | Pan et al., arXiv:2601.03044
57.8x
Speedup at N=64 (sqrt)
90.4%
Efficiency at N=64
162
Critical Fleet Size (sqrt)
128
Max Fleet Simulated
Training Speedup vs Fleet Size
Scaling Efficiency
Critical Fleet Size by Comm Model
Scaling Summary
Comm Model
S(16)
S(64)
S(128)
E(64)
N_crit (70%)
Linear
15.2
34.5
29.0
0.540
46
Sqrt(N)
15.8
57.8
98.4
0.904
162
Log(N)
15.8
59.3
107.9
0.926
256+