2026
Direct Preference Optimization for Primitive-Enabled Hierarchical RL: A Bilevel Approach
Utsav Singh, Souradip Chakraborty, Wesley A. Suttle, Brian M. Sadler, Derrik E. Asher, Anit Kumar Sahu +3
ICLR 2026poster
Hierarchical reinforcement learning (HRL) enables agents to solve complex, long-horizon tasks by decomposing them into manageable sub-tasks. However, HRL methods face two fundamental challenges: (i) non-stationarity caused by the evolving lower-level policy during training, which destabilizes higher…