HorizonFlow: Variable-Length Planning for Offline Goal-Conditioned RL

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Recent advances in generative planning have made trajectory inpainting a promising approach to offline goal-conditioned reinforcement learning. However, these methods typically specify the planning horizon before generating plan content, even though the appropriate horizon depends on the route itself. A horizon that is too short can force infeasible transitions, whereas one that is too long can introduce redundant motion. We introduce HorizonFlow, a hierarchical planner that treats plan length as an output of generation rather than a prescribed input. Its subgoal route planner guides its action-prefix controller through a sequence of latent subgoals. Both components combine insertion-based generation with flow matching to jointly generate continuous plan content and length, using the partially generated plan to guide token insertion. HorizonFlow reuses the resulting length information to select candidates and steer generation toward shorter plans without a separate learned value model. Across Maze2D, Multi2D, and OGBench navigation and visual manipulation benchmarks, HorizonFlow achieves the highest average performance among the compared methods.