SlowGuess/NeurIPS_2023_OCR huggingface dataset:
We visualize learned subgoals in Figures 19 and 20 (videos are available at https://seohong.me/projects/hiql/). For AntMaze-Large, we train HIQL without representations and plot the  $x - y$  coordinates of subgoals. For Progen Maze, we train HIQL with 10-dimensional representations and find the maze positions that have the closest representations (with respect to the Euclidean distance) to the subgoals produced by the high-level policy. The results show that HIQL learns appropriate  $k$ -step subgoals that lead to the target goal.
Figure 19: Subgoal visualization in AntMaze-Large. The red circles denote the target goal and the blue circles denote the learned subgoals. Videos are available at https://seohong.me/projects/hiql/.
Figure 20: Subgoal visualization in Progen Maze. The red circles denote the target goal, the blue circles denote the learned subgoals, and the white blobs denote the agent. Videos are available at https://seohong.me/projects/hiql/.