Learning Multiple Timescales for Goal-Conditioned Reinforcement Learning

Counts differ because each database indexes a different set of publications. We treat OpenAlex as the canonical count; Google Scholar is not shown (no API, and crawling it violates its ToS).

Existing approaches to offline goal-conditioned reinforcement learning (GCRL) struggle with long-horizon tasks. Discounting shrinks value differences between distant states until they fall below the function approximation error, leaving the agent with no signal for ranking states. Temporal abstraction, which treats k environment steps as a single transition, restores this signal at long range, but no single fixed k suits all state-goal distances: large k preserves value differences across long temporal distances while collapsing distinctions between nearby states, and small k does the reverse. We make this trade-off explicit and introduce Generalized Implicit Temporal Abstraction (GITA), which conditions a single value function on k. GITA trains one policy by aggregating advantage-weighted supervision across multiple k values, so scales assigning larger positive advantages to a state-goal pair contribute more strongly to its update. GITA does not need to choose between local resolution and long-range signal; it retains both without committing to a single k. On OGBench, GITA outperforms a broad range of offline GCRL baselines, raising average success rate across all tasks by 25 percentage points (73% relative improvement) over HIQL. It also improves over the strongest fixed-k method, OTA, by 7 percentage points (14% relative).