NFTR: From Provable Mode-Averaging to Geodesic Subgoal Selection in Offline Goal-Conditioned RL

Hierarchical Implicit Q-Learning (HIQL), an offline goal-conditioned RL method, selects subgoals by value-function advantages alone. This rule has two coupled failure modes. Optimistic bias treats lucky stochastic outcomes as skillful choices, and mode collapse reduces a multi-modal subgoal distribution to a single Gaussian mean that often falls in unreachable regions. We propose NFTR (Normalizing Flow subgoal policies with Triangle-slack Reweighting). A conditional Normalizing Flow replaces the Gaussian policy. A closed-form mode-averaging result identifies the Gaussian limitation, while conditional flows support multi-modal weighted maximum likelihood and direct sampling. A triangle slack score, computed from a jointly trained MRN distance head whose triangle inequality is guaranteed architecturally, corrects the AWR weight multiplicatively and measures a detour inside the learned geometry without requiring exact distance recovery. Triangle-slack vanishes on geodesics in deterministic MDPs and remains a conservative upper bound on composability violation under stochastic dynamics. The RWDR objective preserves AWR's population-level monotonic improvement and admits a three-term suboptimality decomposition. On OGBench the flow carries the larger share of the gain, while the full co-trained configuration adds task-dependent gains. The combined method avoids Gaussian mode averaging and performs well on stochastic tasks. GitHub page: https://github.com/erdemtbao/NFTR