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arXiv 提交日期: 2026-05-27
📄 Abstract - Adaptive Coarse-to-Fine Subgoal Refinement for Long-Horizon Offline Goal-Conditioned Reinforcement Learning

Offline goal-conditioned reinforcement learning (GCRL) is challenging in long-horizon tasks, where distant state--goal pairs provide weak supervision and value estimates become vulnerable to accumulated bootstrapping errors. Hierarchical methods mitigate this difficulty by introducing intermediate subgoals, but fixed temporal abstractions or fixed hierarchy depths can be mismatched to state--goal pairs with different reachability horizons. We propose Coarse-to-Fine Hierarchical Goal Reinforcement Learning (CFHRL), a fully offline GCRL framework that adaptively refines distant goals before execution. Starting from the final goal, CFHRL recursively proposes intermediate targets, trained from replay-supported candidates, and stops refinement once the current target is estimated to be locally executable by a learned reachability cost. The key idea is that a subgoal need not be an exact midpoint or globally optimal waypoint; it only needs to provide reliable progress and reduce the remaining reaching difficulty, enabling subsequent refinement over shorter horizons. A stylized analysis further supports the robustness of approximate recursive contraction. Experiments on OGBench show substantial gains on several long-horizon tasks, with ablations validating the proposed refinement and stopping mechanisms

顶级标签: reinforcement learning machine learning
详细标签: goal-conditioned hierarchical rl offline rl long-horizon subgoal planning 或 搜索:

面向长视距离线目标条件强化学习的自适应由粗到精子目标细化方法 / Adaptive Coarse-to-Fine Subgoal Refinement for Long-Horizon Offline Goal-Conditioned Reinforcement Learning


1️⃣ 一句话总结

本文提出了一种名为CFHRL的全离线强化学习框架,通过从最终目标开始递归生成中间子目标,并仅在当前子目标被判定为可局部执行时才停止细化,从而在长距离任务中自适应地将遥远目标分解为一系列更容易实现的子目标,显著提升了学习效率与任务成功率。

源自 arXiv: 2605.28127