A method and system for controlling a device includes training a low-level policy to form a trained low-level policy and a low-level value function to form a trained goal conditioned value function, wherein training is performed using a static data set using goal conditioned episodes, training a high-level goal planner having high level goals having high-level sub-goals corresponding to a plurality of future time steps using the low-level value function to maximize a cumulative reward over the sub-goals for the plurality of future time steps so that the sub-goals are reachable by the low-level policy, obtaining an observation of a device, and generating an executable action using the low-level policy and the high-level goal planner and operating the device with the executable action.
Hierarchical Planning Through Goal-Conditioned Offline Reinforcement Learning
2024-10-10
Patent
Electronic Resource
English
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