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Topological Necessities: Mechanism-Invariant Strategic Subgoals for Cross-Embodiment Goal-Conditioned Control
Long-horizon goal-conditioned reinforcement learning delegates control to a high-level module that proposes subgoals, but existing subgoals are implicit byproducts of value functions or latent actions, tied to the executor that produced them. We study a different object: a route-conditioned order of
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