Preprint
Aug 2026
Beyond Flat Policies: Hierarchical Post-Training for Embodied Agents in Robotic Manipulation
Hierarchical Robotic Control (HiRoC) is proposed, a hierarchical post-training framework that decouples high-level task planning from low-level action execution and aligns the executor with planner-generated subgoals before reinforcement learning, mitigating the distribution misalignment between planning and execution.
He Kong, Ze Chen, Qi Wang et al.
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