Goal-Conditioned Reinforcement Learning

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11 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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  1. Learning Multiple Timescales for Goal-Conditioned Reinforcement Learning

    Oct 1, 2026Pedro Robles Dutenhefner, Dikshant Shehmar, Wagner Meira +1Goal-Conditioned Reinforcement LearningTimescale

    Universidade Federal de Minas Gerais · University of Alberta · Alberta Machine Intelligence Institute (Amii) +1

  2. Learning Goal-Reaching Quasimetric Geometry From Finite-Time Reachability

    Sep 30, 2026Daisuke Yamada, Travis Pence, Vikas SinghGoal-Conditioned Reinforcement LearningReachability

    Department of Computer Science University of Wisconsin–Madison · Department of Biostatistics and Medical Informatics University of Wisconsin–Madison

  3. Do Better Goal Representations Improve Goal-Conditioned Reinforcement Learning?

    Sep 30, 2026Syed Nazmus Sakib, Abdul Monaf Chowdhury, Nafiul Haque +2Goal-Conditioned Reinforcement LearningObject Goal Navigation

    Department of Robotics and Mechatronics Engineering, University of Dhaka, Bangladesh · Department of Computer Science, University of Oxford, UK

  4. HorizonFlow: Variable-Length Planning for Offline Goal-Conditioned RL

    Sep 29, 2026JunHyeok Oh, Zian Jang, Byung-Jun LeeGoal-Conditioned Reinforcement LearningPlanning

    Korea University. · Gauss Labs Inc., Seoul, Republic of Korea.

  5. ChronoSRL: Temporal Geometry for Self-Supervised Reinforcement Learning

    Sep 28, 2026Nico Bohlinger, Jan PetersGoal-Conditioned Reinforcement LearningOffline Reinforcement Learning

    Technical University of Darmstadt, Germany · Robotics Institute Germany (RIG); German Research Center for AI (DFKI); hessian.AI

  6. Diffusion Subgoal Planning for Long-Horizon Offline Goal-Conditioned Reinforcement Learning

    Sep 28, 2026Hengrui Zhang, Yuhu Cheng, C. L. Philip Chen +1Goal-Conditioned Reinforcement LearningHigh-Level Subgoal Generation

    School of Information and Control Engineering, China University of Mining and Technology · School of Computer Science and Engineering, South China University of Technology

  7. GTRL: Grounding Divide-and-Conquer Value Learning with Temporal Differences

    Sep 27, 2026Abdul Monaf Chowdhury, MD Sameer Iqbal Chowdhury, Shifat E Arman +1Goal-Conditioned Reinforcement LearningTemporal Difference

    Department of Robotics and Mechatronics Engineering, University of Dhaka, Bangladesh · Department of Computer Science, Texas State University, USA · Department of Computer Science, University of Oxford, UK

  8. Improving Offline Goal-Conditioned Reinforcement Learning via Selective Reward Stimulation

    Sep 16, 2026Jing ZhangGoal-Conditioned Reinforcement LearningSubgoals

    The Hong Kong University of Science and Technology

  9. Forty Shades of Blue: Quality-Diversity Alignment via Mode-Conditioned Reinforcement Learning

    Sep 14, 2026Jiayi Yuan, Hangoo Kang, James Jihao Liu +4Large Language Model AlignmentMulti-Agent Reinforcement Learning

    University of Washington · 2Stanford University

  10. From Connectivity to Rewards: Dense Reward Learning with Directed State Graphs

    Sep 11, 2026Shuyuan Zhang, Zihan Wang, Xiao-Wen Chang +1Goal-Conditioned Reinforcement LearningPath Planning

    School of Computer Science, McGill University Mila – Quebec AI Institute · Google DeepMind, CIFAR Fellow

  11. SUN: Reaching for Novelty in Reinforcement Learning

    Sep 8, 2026Wenyan Yang, Arsenii Mustafin, Dominik Baumann +2Goal-Conditioned Reinforcement LearningExploration

    Aalto University · Tampere University

  12. Learning Action Models with Conditional and Quantified Effects via Uncertainty-Guided Exploration

    Aug 31, 2026Jeffrey Jewett, William Solow, Sandhya SaisubramanianEfficient World-Action ModelGoal-Conditioned Reinforcement Learning

    Oregon State University

  13. Locally-Guided Actor-Critic: Training a Goal-conditioned Actor with a Subgoal-aware Critic

    Aug 31, 2026Olivier Serris, Stéphane Doncieux, Olivier SigaudGoal-Conditioned Reinforcement LearningPotential-Based Reward Shaping

    ISIR · Sorbonne Université, CNRS

  14. Enhancing VLM Reward Models Through Structure-Aware Fine-Tuning

    Aug 4, 2026Pyrros Koussios, Chenhao Li, Xin Chen +1Reinforcement Fine-TuningGoal-Conditioned Reinforcement Learning

    ETH Zürich

  15. FORGE-plus: Force-Budgeted Recovery for Contact-Rich Assembly with a Frozen LLM Supervisor

    Jul 23, 2026Kyupaeck Jeff Rah, Midum OhGoal-Conditioned Reinforcement LearningSlipsense

    Independent Researcher

  16. Offline RL with Hierarchical Action Chunking

    Jul 23, 2026Ahad JawaidGoal-Conditioned Reinforcement LearningOffline Reinforcement Learning

    The University of Texas at Dallas

  17. From Trajectories to Instructions: Language-Conditioned Meta-Reinforcement Learning

    Jul 21, 2026Garvit Singla, Uma Maheswari Natarajan, Raghuram Bharadwaj DiddigiMeta-LearningGoal-Conditioned Reinforcement Learning

    International Institute of Information Technology Bangalore, India

  18. DAGR: State-Conditioned Goal Representations via Difference-Aware Goal Cross-Attention

    Jul 15, 2026Xing Lei, Wenyan Yang, Xuetao Zhang +1Goal-Conditioned Reinforcement LearningCross-Attention

    Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University · Department of Electrical Engineering and Automation, Aalto University · School of Engineering, Westlake University

  19. NFTR: From Provable Mode-Averaging to Geodesic Subgoal Selection in Offline Goal-Conditioned RL

    Jul 8, 2026Erdemt Bao, Xing Lei, Jun Chen +2Goal-Conditioned Reinforcement LearningReweighting

    Huazhong University of Science and Technology · Xi’an Jiaotong University · University of Electronic Science and Technology of China

  20. Multi-Agent Goal Recognition with Team- and Goal-Conditioned Reinforcement Learning and Factorized Branch-and-Bound

    Jun 24, 2026Thiago Thomas, Gabriel de Oliveira Ramos, Felipe MeneguzziGoal-Conditioned Reinforcement LearningGoal-Conditioned Value Function

    Pontifícia Universidade Católica do Rio Grande do Sul (PUCRS) · Universidade do Vale do Rio dos Sinos (Unisinos) · University of Aberdeen

  21. Inverting the Bellman Equation: From QQ-Values to World Models

    Jun 19, 2026Alistair Letcher, Mattie Fellows, Alexander D. Goldie +3Model-Free Reinforcement LearningGoal-Conditioned Reinforcement Learning

    FLAIR, University of Oxford · Google DeepMind · Mila, University of Montreal

  22. Direction-Conditioned Policies via Compositional Subgoal Scoring for Online Goal-Conditioned Reinforcement Learning

    Jun 15, 2026Swaminathan S K, Damiya Gondha, Theyanesh Eswaramoorthy Rajahkrishnan +1Goal-Conditioned Reinforcement LearningGoal-Conditioned Value Function

    Department of Computer Science and Engineering, Indian Institute of Technology Kharagpur, Kharagpur, India · Department of Mechanical Engineering, Indian Institute of Technology Kharagpur, Kharagpur, India.

  23. Test-Time Gradient Guidance of Flow Policies in Reinforcement Learning

    Jun 9, 2026Zhiyuan Zhou, Andy Peng, Charles Xu +4Flow PoliciesDiffusion-Based Reinforcement Learning Methods

    UC Berkeley · Physical Intelligence

  24. Goal Sets, Not Goal States: Queryable Robot Goals through Goal-Set Hindsight Relabeling

    Jun 8, 2026Carlos Vélez García, Miguel Cazorla, Jorge PomaresGoal-Conditioned Reinforcement LearningSubgoals

    INESCOP · University of Alicante

  25. Dual Advantage Fields

    Jun 2, 2026Alexey Zemtsov, Maxim Bobrin, Alexander Nikulin +5Goal-Conditioned Reinforcement LearningGoal-Conditioned Value Function

    1NUST MISIS · 2MSU · 3Computational Imaging Lab +3

  26. Physics-informed Goal-Conditioned Reinforcement Learning under Hybrid Contact Dynamics

    May 28, 2026Vittorio Giammarino, Anastasios Manganaris, Ahmed H. QureshiGoal-Conditioned Reinforcement LearningContact-Rich Manipulation

    Department of Computer Science Purdue University

  27. Adaptive Coarse-to-Fine Subgoal Refinement for Long-Horizon Offline Goal-Conditioned Reinforcement Learning

    May 27, 2026Kaiqiang Ke, Shenghong He, Chengdong Xu +3Goal-Conditioned Reinforcement LearningLong-Horizon Task Planning

    1Sun Yat-sen University · 2Pengcheng Laboratory

  28. Latent Representation Alignment for Offline Goal-Conditioned Reinforcement Learning

    May 25, 2026Hyungkyu Kang, Byeongchan Kim, Min-hwan OhGoal-Conditioned Reinforcement LearningGoal-Conditioned Value Function

    Seoul National University, Seoul, South Korea.

  29. Goal-Conditioned Agents that Learn Everything All at Once

    May 22, 2026Michael Matthews, Matthew Jackson, Michael Beukman +5Goal-Conditioned Reinforcement LearningGoal-Conditioned Value Function

    University of Oxford · 2McGill University · 3MIT +1

  30. Abstraction for Offline Goal-Conditioned Reinforcement Learning

    May 21, 2026Clarisse Wibault, Alexander Goldie, Antonio Villares +2Goal-Conditioned Reinforcement LearningMarkov Decision Processes

    FLAIR, MLRG · University of Oxford · FLAIR +1

  31. Compositional Transduction with Latent Analogies for Offline Goal-Conditioned Reinforcement Learning

    May 20, 2026Junseok Kim, Dohyeong Kim, Mineui Hong +1Goal-Conditioned Reinforcement LearningCompositional Generalization

    Department of Electrical and Computer Engineering and ASRI, Seoul National University · Independent researcher · Robotics Institute, Carnegie Mellon University

  32. Introspective X Training: Feedback Conditioning Improves Scaling Across all LLM Training Stages

    May 19, 2026Brandon Cui, Ximing Lu, Jaehun Jung +7Large Language Model TrainingLarge Language Model Pipelines

    1NVIDIA · University of Washington · 3Carnegie Mellon University +1

  33. MSPR: Multi-scale Predictive Representations for Goal-conditioned Reinforcement Learning

    May 10, 2026Valliappan Chidambaram Adaikkappan, Sai Rajeswar, Pietro Mazzaglia +1Goal-Conditioned Reinforcement LearningRepresentation Learning

    Mila, McGill University · Qualcomm Research

  34. Functional Graphs for Predicting and Explaining Goal Failure in Sparse Goal-Conditioned RL

    May 10, 2026Shalley DashGoal-Conditioned Reinforcement Learning

    Associate Adjunct Professor, Business Analytics, Institute of Management Technology Ghaziabad, 201001

  35. Unifying Goal-Conditioned RL and Unsupervised Skill Learning via Control-Maximization

    May 7, 2026Alireza Modirshanechi, Benjamin Eysenbach, Peter Dayan +1Goal-Conditioned Reinforcement LearningUnsupervised Skill Discovery

    Helmholtz Munich, Germany · Max Planck Institute for Biological Cybernetics, Germany · Princeton University, USA +1

  36. Middle-mile logistics through the lens of goal-conditioned reinforcement learning

    May 4, 2026Onno Eberhard, Thibaut Cuvelier, Michal Valko +1Goal-Conditioned Reinforcement LearningModel-Free Reinforcement Learning

    Max Planck Institute for Intelligent Systems, Tübingen, Germany · University of Tübingen · Google Research +1

  37. QHyer: Q-conditioned Hybrid Attention-mamba Transformer for Offline Goal-conditioned RL

    May 3, 2026Xing Lei, Jincheng Wang, Xuetao Zhang +1Goal-Conditioned Reinforcement LearningSequence Modeling

    National Key Laboratory of Human-Machine Hybrid Augmented Intelligence and Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University · Computer Science, University College London · School of Engineering, Westlake University

  38. PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations

    Apr 30, 2026Yang Zhang, Jiangyuan Zhao, Chenyou Fan +11Robot PoliciesGoal-Conditioned Reinforcement Learning

    Institute of Artificial Intelligence (TeleAI), China Telecom · Tsinghua University · Shanghai Jiao Tong University +1

  39. Rule-based High-Level Coaching for Goal-Conditioned Reinforcement Learning in Search-and-Rescue UAV Missions Under Limited-Simulation Training

    Apr 29, 2026Mahya Ramezani, Holger VoosUnmanned Aerial VehiclesReinforcement Learning Control

    Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg.

  40. Occupancy Reward Shaping: Improving Credit Assignment for Offline Goal-Conditioned Reinforcement Learning

    Apr 22, 2026Aravind Venugopal, Jiayu Chen, Xudong Wu +3Potential-Based Reward ShapingCredit Assignment

    Carnegie Mellon University · The University of Hong Kong · INFIFORCE Intelligent Technology +1

  41. Self-Guided Plan Extraction for Instruction-Following Tasks with Goal-Conditional Reinforcement Learning

    Apr 22, 2026Zoya Volovikova, Nikita Sorokin, Dmitriy Lukashevskiy +2Agentic Reinforcement LearningLarge Language Model Planning

    1AXXX · 2MIRAI

  42. SVL: Goal-Conditioned Reinforcement Learning as Survival Learning

    Apr 19, 2026Franki Nguimatsia Tiofack, Fabian Schramm, Théotime Le Hellard +1Goal-Conditioned Reinforcement LearningGoal-Conditioned Value Function

    Inria and École Normale Supérieure, PSL Research University, Paris, France.

  43. Online Adaptation of Visual Odometry Frontends with Image-Conditioned Reinforcement Learning

    Mar 23, 2026Simone Nascivera, Leonard Bauersfeld, Jeff Delaune +1Visual Inertial OdometryVision Sensors

    Robotics and Perception Group, University of Zurich, Switzerland. · Jet Propulsion Laboratory, California Institute of Technology, USA.

  44. Beyond Success Rates: Trainability and Extractability for Offline GCRL

    Feb 5, 2026Jan Malte Töpperwien, Aditya Mohan, Marius LindauerGoal-Conditioned Reinforcement LearningTask Success Rate

    Institute of Artificial Intelligence (LUH|AI), Leibniz University Hannover · L3S Research Center

  45. Chain-of-Goals Hierarchical Policy for Long-Horizon Offline Goal-Conditioned RL

    Feb 3, 2026Jinwoo Choi, Sang-Hyun Lee, Seung-Woo SeoGoal-Conditioned Reinforcement LearningHigh-Level Subgoal Generation

    Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea · Department of Automotive Engineering, Ajou University, Gyeonggi-do, South Korea

  46. Offline Reinforcement Learning of High-Quality Behaviors Under Robust Style Alignment

    Jan 30, 2026Mathieu Petitbois, Rémy Portelas, Sylvain LamprierGoal-Conditioned Reinforcement LearningGoal-Conditioned Value Function

    Ubisoft La Forge, Bordeaux, France · Université d’Angers, Angers, France

  47. Consistent Zero-Shot Imitation with Contrastive Goal Inference

    Oct 20, 2025Kathryn Wantlin, Chongyi Zheng, Benjamin EysenbachImitation LearningGoal-Conditioned Reinforcement Learning

    Department of Computer Science, Princeton University, Princeton, NJ, USA.

  48. Reward function compression facilitates goal-dependent reinforcement learning

    Sep 8, 2025Gaia Molinaro, Anne G. E. CollinsGoal-Conditioned Reinforcement LearningReward Functions

    University of California, Berkeley Berkeley, CA 94704

  49. Hybrid Sequence Modeling and Reinforced Verification for Controllable Target-Conditioned Decision Making

    Aug 22, 2025Yue Pei, Hongming Zhang, Chao Gao +7Goal-Conditioned Value FunctionGoal-Conditioned Reinforcement Learning

    School of Artificial Intelligence, Beihang University, Beijing, China · Department of Computing Science and Amii, University of Alberta, Edmonton, Canada · Edmonton Research Center, Huawei Canada, Edmonton, Canada +2

  50. Learning The Minimum Action Distance

    Jun 10, 2025Lorenzo Steccanella, Joshua B. Evans, Özgür Şimşek +1Markov Decision ProcessesGoal-Conditioned Reinforcement Learning

    Department of Information and Communication Technologies, Universitat Pompeu Fabra, Barcelona, Spain · Department of Computer Science, University of Bath, Bath, United Kingdom

  51. CONTHER: Context-Aware Reinforcement Learning for Robotic Manipulation with Sparse Rewards

    Mar 20, 2025Maria Makarova, Qian Liu, Dzmitry TsetserukouGoal-Conditioned Reinforcement LearningRobotic Manipulation

    Intelligent Space Robotics Laboratory, Center for Digital Engineering, Skolkovo Institute of Science and Technology (Skoltech), 121205 Moscow, Russia · Department of Computer Science and Technology, Dalian University of Technology, China

  52. ETHER: Aligning Emergent Communication for Hindsight Experience Replay

    Jul 28, 2023Kevin Yandoka Denamganaï, Daniel Hernandez, Ozan Vardal +2Goal-Conditioned Reinforcement LearningHindsight

    Department of Computer Science University of York York, UK