Erdemt Bao

NFTR: From Provable Mode-Averaging to Geodesic Subgoal Selection in Offline Goal-Conditioned RL

Erdemt Bao, Xing Lei, Jun Chen

Hierarchical Implicit Q-Learning (HIQL), an offline goal-conditioned RL method, selects subgoals by value-function advantages alone. This rule has two coupled failure modes. Optimistic bias treats lucky stochastic outcomes as skillful choices, and mode collapse reduces a multi-mo…Read more