Topological Necessities: Mechanism-Invariant Strategic Subgoals for Cross-Embodiment Goal-Conditioned Control
Long-horizon goal-conditioned reinforcement learning delegates control to a high-level module that proposes subgoals, but existing subgoals are implicit byproducts of value functions or latent actions, tied to the executor that produced them. We study a different object: a route-conditioned order of unavoidable stages that every successful executor must traverse, recoverable from offline trajectories and belonging to none of them. Its defining properties are topological: an unskippable stage is a separating set that every admissible path must cross, and a loop in free space forces a route choice. We read the two by homology in dimensions 0 and 1 over a transport-weighted carrier built fro...
| Authors | Hao Shi, Xi Li |
|---|---|
| Primary category | cs.LG |
| Published | 10 September 2026 |
| Last updated at source | 10 September 2026 |
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