# Object-oriented state editing for HRL

arXiv: https://arxiv.org/abs/1910.14361 · HTML: https://mlsanity.com/paper/1910.14361/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Oct 2019.

## Built on by (most cited first, 1 of 1)

- [Visual scoping operations for physical assembly](https://mlsanity.com/paper/2106.05654/) (2021)

## Abstract (arXiv)

We introduce agents that use object-oriented reasoning to consider alternate states of the world in order to more quickly find solutions to problems. Specifically, a hierarchical controller directs a low-level agent to behave as if objects in the scene were added, deleted, or modified. The actions taken by the controller are defined over a graph-based representation of the scene, with actions corresponding to adding, deleting, or editing the nodes of a graph. We present preliminary results on three environments, demonstrating that our approach can achieve similar levels of reward as non-hierarchical agents, but with better data efficiency.