Normalizing-flow subgoal policies plus triangle-slack reweighting provably avoid Gaussian mode-averaging and filter lucky transitions in offline hierarchical GCRL.
∆∗ = 0 iff w is on an optimal path
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NFTR: From Provable Mode-Averaging to Geodesic Subgoal Selection in Offline Goal-Conditioned RL
Normalizing-flow subgoal policies plus triangle-slack reweighting provably avoid Gaussian mode-averaging and filter lucky transitions in offline hierarchical GCRL.