Tianjun Zhang, Benjamin Eysenbach, Ruslan Salakhutdinov, Sergey Levine, Joseph E. Gonzalez

Research output: Contribution to conferencePaperpeer-review

1 Scopus citations


Goal-conditioned reinforcement learning (RL) can solve tasks in a wide range of domains, including navigation and manipulation, but learning to reach distant goals remains a central challenge to the field. Learning to reach such goals is particularly hard without any offline data, expert demonstrations, and reward shaping. In this paper, we propose an algorithm to solve the distant goal-reaching task by using planning at training time to automatically generate a curriculum of intermediate states. Our algorithm, Classifier-Planning (C-Planning), frames the learning of the goal-conditioned policies as expectation maximization: the E-step corresponds to planning a sequence of waypoints using graph planning, while the M-step aims to learn a goal-conditioned policy to reach those waypoints. Unlike prior methods that combine goal-conditioned RL with graph search, ours performs planning only during training and not testing, significantly decreasing the compute costs of deploying the learned policy. Empirically, we demonstrate that our method is more sample efficient that prior methods. Moreover, it is able to solve very long horizons manipulation and navigation tasks, tasks that prior goal-conditioned methods and methods based on graph search fail to solve.

Original languageEnglish (US)
StatePublished - 2022
Externally publishedYes
Event10th International Conference on Learning Representations, ICLR 2022 - Virtual, Online
Duration: Apr 25 2022Apr 29 2022


Conference10th International Conference on Learning Representations, ICLR 2022
CityVirtual, Online

All Science Journal Classification (ASJC) codes

  • Language and Linguistics
  • Computer Science Applications
  • Education
  • Linguistics and Language


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