GCRL and MISL are unified as control maximization, with three inequivalent GCRL formulations each matched to a MISL objective via bounds on goal-sensitivity.
129, we have C(s, π{.,.}) =J(s, π {.,.})− X g′∈S pgoal(g′)J(s, π{g′,.}) (135) Moreover, the non-negative reward assumption implies that, for everyg∈ Sandg ′ ∈ S, J(s, g, π{g′,.})≥0
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Unifying Goal-Conditioned RL and Unsupervised Skill Learning via Control-Maximization
GCRL and MISL are unified as control maximization, with three inequivalent GCRL formulations each matched to a MISL objective via bounds on goal-sensitivity.