S3: Stable Subgoal Selection by Constraining Uncertainty of Coarse Dynamics in Hierarchical Reinforcement Learning

Hierarchical Reinforcement Learning (HRL) intends to separate strategic planning from primitive execution.

Hierarchical Reinforcement Learning (HRL) intends to separate strategic planning from primitive execution. It has been widely successful in solving long-horizon and complex tasks, where flat-RL algorithms have difficulty in learning. However, while the low-level agent in HRL…