Self-Consistent Trajectory Autoencoder: Hierarchical Reinforcement Learning with Trajectory Embeddings

John D. Co-Reyes, Yuxuan Liu, Abhishek Gupta, Benjamin Eysenbach, Pieter Abbeel, Sergey Levine

Abstract: In this work, we take a representation learning perspective on hierarchical reinforcement learning, where the problem of learning lower layers in a hierarchy is transformed into the problem of lear...