Diffusion Subgoal Planning for Long-Horizon Offline Goal-Conditioned Reinforcement Learning
DSP casts high-level planning as guided generative inference over goal-conditioned subgoals and learns both conditional and unconditional flows, enabling classifier-free guidance to introduce a goal-directed bias at inference time.
Heng-Rui Zhang, Yu-Hu Cheng, C. L. Philip Chen et al.
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