Hierarchical Policy

Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations / Hierarchical Behavior Cloning (HBC)

First saw this through the Robomimic paper.

“HBC consists of a low-level policy that is conditioned on future observations sg ∈ S (termed subgoals) and outputs action sequences to try and achieve them, and a high-level policy that predicts future subgoals from the current observation.”

Citation

(Mandlekar et al., 2020)

Mandlekar, A., Xu, D., Martín-Martín, R., Savarese, S., & Fei-Fei, L. (2020). Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations. https://arxiv.org/pdf/2003.06085