Learning Transferable Skills using Goal-Conditioned Bisimulation
Unsupervised skill discovery has emerged as a promising approach for leveraging reward-free datasets to pretrain general-purpose policies. However, current skill discovery methods either require access to expert data or exhibit limited generalization, failing to transfer effectively to previously unseen layouts. A key challenge is to learn representations that capture the temporal structure of the environment while remaining robust to variations across layouts. To address this issue, we present an objective for learning action-aware temporal representations that satisfy the functional equivariance property while preserving the local temporal structure of the environment. Building upon thi...
| Authors | Mohammad Amin Abbasfar, Farbod Azimmohseni, Mohammad Hossein Rohban |
|---|---|
| Primary category | cs.LG |
| Published | 30 September 2026 |
| Last updated at source | 30 September 2026 |
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