Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Hierarchical Foresight: Self-Supervised Learning of Long-Horizon Tasks
  via Visual Subgoal Generation   Video prediction models combined with planning algorithms have shown promise
in enabling robots to learn to perform many vision-based tasks through only
self-supervision, reaching novel goals in cluttered scenes with unseen objects.
However, due to the compounding uncertainty in long horizon video prediction
and poor scalability of sampling-based planning optimizers, one significant
limitation of these approaches is the ability to plan over long horizons to
reach distant goals. To that end, we propose a framework for subgoal generation
and planning, hierarchical visual foresight (HVF), which generates subgoal
images conditioned on a goal image, and uses them for planning. The subgoal
images are directly optimized to decompose the task into easy to plan segments,
and as a result, we observe that the method naturally identifies semantically
meaningful states as subgoals. Across three out of four simulated vision-based
manipulation tasks, we find that our method achieves nearly a 200% performance
improvement over planning without subgoals and model-free RL approaches.
Further, our experiments illustrate that our approach extends to real,
cluttered visual scenes. Project page:
https://sites.google.com/stanford.edu/hvf

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The categories of this paper are: gr-qc
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The categories of this paper are: math-ph
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The categories of this paper are: adap-org
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The categories of this paper are: eess
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The categories of this paper are: nucl-ex
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The categories of this paper are: hep-ex
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The categories of this paper are: quant-ph
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The categories of this paper are: chem-ph
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The categories of this paper are: nlin
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The categories of this paper are: hep-th
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The categories of this paper are: funct-an
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The categories of this paper are: econ
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The categories of this paper are: math
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The categories of this paper are: q-bio
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The categories of this paper are: hep-ph
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The categories of this paper are: solv-int