mlsanityData to 7 Oct 2026

Multi-Goal Reinforcement Learning: Challenging Robotics Environments and Request for Research

arXiv 1802.09464 ↗First posted 26 Feb 2018cs.LG cs.AI cs.ROcited by 256

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Cited by 51 in Offline RL and imitation learning from data, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

The purpose of this technical report is two-fold. First of all, it introduces a suite of challenging continuous control tasks (integrated with OpenAI Gym) based on currently existing robotics hardware. The tasks include pushing, sliding and pick & place with a Fetch robotic arm as well as in-hand object manipulation with a Shadow Dexterous Hand. All tasks have sparse binary rewards and follow a Multi-Goal Reinforcement Learning (RL) framework in which an agent is told what to do using an additional input. The second part of the paper presents a set of concrete research ideas for improving RL algorithms, most of which are related to Multi-Goal RL and Hindsight Experience Replay.

Key facts. Cited by 256 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Feb 2018.

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Citing papers per year: 2019: 1; 2020: 3; 2021: 37; 2022: 48; 2023: 56; 2024: 48; 2025: 48; 2026: 15.

256 papers.

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  1. 2022Contrastive Learning as Goal-Conditioned Reinforcement Learningcited by 241
  2. 2024OGBench: Benchmarking Offline Goal-Conditioned RLcited by 216
  3. 2022Goal-Conditioned Reinforcement Learning: Problems and Solutionscited by 145
  4. 2022On the Pitfalls of Heteroscedastic Uncertainty Estimation with Probabilistic Neural Networkscited by 119
  5. 2023Optimal Goal-Reaching Reinforcement Learning via Quasimetric Learningcited by 116
  6. 2021Learning One Representation to Optimize All Rewardscited by 110
  7. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 101
  8. 2022Rethinking Goal-conditioned Supervised Learning and Its Connection to Offline RLcited by 89
  9. 2022MyoSuite -- A contact-rich simulation suite for musculoskeletal motor controlcited by 80
  10. 2024World Models for Autonomous Driving: An Initial Surveycited by 79
  11. 2021Causal Influence Detection for Improving Efficiency in Reinforcement Learningcited by 70
  12. 2023Elastic Decision Transformercited by 66
38 more
  1. 2022How Far I'll Go: Offline Goal-Conditioned Reinforcement Learning via f-Advantage Regressioncited by 65
  2. 2022Watch and Match: Supercharging Imitation with Regularized Optimal Transportcited by 64
  3. 2024Training Large Language Models for Reasoning through Reverse Curriculum Reinforcement Learningcited by 63
  4. 2022Lipschitz-constrained Unsupervised Skill Discoverycited by 60
  5. 2023The Wisdom of Hindsight Makes Language Models Better Instruction Followerscited by 59
  6. 2022Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Modelscited by 58
  7. 2021panda-gym: Open-source goal-conditioned environments for robotic learningcited by 56
  8. 2021Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learningcited by 49
  9. 2023Controllability-Aware Unsupervised Skill Discoverycited by 49
  10. 2022PaCo: Parameter-Compositional Multi-Task Reinforcement Learningcited by 40
  11. 2023Diffusion Model-Augmented Behavioral Cloningcited by 37
  12. 2021CORA: Benchmarks, Baselines, and Metrics as a Platform for Continual Reinforcement Learning Agentscited by 36
  13. 2023What is Essential for Unseen Goal Generalization of Offline Goal-conditioned RL?cited by 36
  14. 2023Contrastive Difference Predictive Codingcited by 35
  15. 2021Bayesian Optimization of Function Networkscited by 33
  16. 2024Exploration and Anti-Exploration with Distributional Random Network Distillationcited by 32
  17. 2022Curious Exploration via Structured World Models Yields Zero-Shot Object Manipulationcited by 29
  18. 2023Flipping Coins to Estimate Pseudocounts for Exploration in Reinforcement Learningcited by 28
  19. 2024LLM-Empowered State Representation for Reinforcement Learningcited by 28
  20. 2021Discovery of Options via Meta-Learned Subgoalscited by 27
  21. 2024Inverse-RLignment: Large Language Model Alignment from Demonstrations through Inverse Reinforcement Learningcited by 27
  22. 2021Explainable Reinforcement Learning for Broad-XAI: A Conceptual Framework and Surveycited by 24
  23. 2023The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learningcited by 24
  24. 2023SMORE: Score Models for Offline Goal-Conditioned Reinforcement Learningcited by 21
  25. 2020Inverse Reinforcement Learning with Natural Language Goalscited by 20
  26. 2023Seizing Serendipity: Exploiting the Value of Past Success in Off-Policy Actor-Criticcited by 20
  27. 2023Reinforcement Learning in the Era of LLMs: What is Essential? What is needed? An RL Perspective on RLHF, Prompting, and Beyondcited by 20
  28. 2023GOPlan: Goal-conditioned Offline Reinforcement Learning by Planning with Learned Modelscited by 20
  29. 2024Deep Generative Models for Offline Policy Learning: Tutorial, Survey, and Perspectives on Future Directionscited by 20
  30. 2024A Single Goal is All You Need: Skills and Exploration Emerge from Contrastive RL without Rewards, Demonstrations, or Subgoalscited by 20
  31. 2025Assessing Adaptive World Models in Machines with Novel Gamescited by 20
  32. 2025Scaling Off-Policy Reinforcement Learning with Batch and Weight Normalizationcited by 19
  33. 2021Mutual Information State Intrinsic Controlcited by 18
  34. 2023Distance Weighted Supervised Learning for Offline Interaction Datacited by 18
  35. 2024Diffusion-Reward Adversarial Imitation Learningcited by 18
  36. 2021Outcome-Driven Reinforcement Learning via Variational Inferencecited by 17
  37. 2023SAR: Generalization of Physiological Agility and Dexterity via Synergistic Action Representationcited by 17
  38. 2024Open RL Benchmark: Comprehensive Tracked Experiments for Reinforcement Learningcited by 17

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