DynoPlan adds dynamics models and a demonstration-derived heuristic to the options framework so that hierarchical RL can switch between motion planning and DNN controllers via short-horizon model-predictive evaluation.
Betw een mdps and semi-mdps: A framework for temporal abstraction in reinforcement learning
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DynoPlan: Combining Motion Planning and Deep Neural Network based Controllers for Safe HRL
DynoPlan adds dynamics models and a demonstration-derived heuristic to the options framework so that hierarchical RL can switch between motion planning and DNN controllers via short-horizon model-predictive evaluation.