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

• Main Authors: PATERIA, Shubham, SUBAGDJA, Budhitama, TAN, Ah-hwee, QUEK, Chai
• Format: text
• Language: English
• Published: Institutional Knowledge at Singapore Management University 2023
• Subjects: Long-horizon goal-reaching; motion planning; path planning; reinforcement learning (RL); subgoal discovery; subgoal graph; Databases and Information Systems; OS and Networks
• Online Access: https://ink.library.smu.edu.sg/sis_research/8114
• Institution: Singapore Management 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...