Value-based subgoal discovery and path planning for reaching long-horizon goals

• Main Authors: Pateria, Shubham, Subagdja, Budhitama, Tan, Ah-Hwee, Quek, Chai
• Other Authors: School of Computer Science and Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Computer science and engineering; Motion Planning; Path Planning
• Online Access: https://hdl.handle.net/10356/170579
• Institution: Nanyang Technological University

Learning to reach long-horizon goals in spatial traversal tasks is a significant challenge for autonomous agents. Recent subgoal graph-based planning methods address this challenge by decomposing a goal into a sequence of shorter-horizon subgoals. These methods, however, use arbitrary heuristics for...