Learning Transferable Skills using Goal-Conditioned Bisimulation

arXiv:2610.00676v1 Announce Type: cross Abstract: 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 re

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