The speaker says the inner-loop and outer-loop agents optimize toward objectives that are similar but not identical.

“In a loop and outer loop are both optimizing towards a similar but different goals. So in all our benchmarks used for heel climbing,”

“we have a public set and a private set.”

“The inner loop agent will only look at the public set, whereas the outer loop will look at”

“the aggregated score of the from the private set.”

“So those two agents are optimizing at a kind of different level of objective.”