# Going Beyond State-Reaching: Learning Abstractions for Intrinsically Motivated Option Discovery

arXiv: https://arxiv.org/abs/2609.36473 · HTML: https://mlsanity.com/paper/2609.36473/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 78 references that are in the map.
- First posted on arXiv 29 Sep 2026.

## Builds on (most cited first, 30 of 42)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [A Unified Approach to Interpreting Model Predictions](https://mlsanity.com/paper/1705.07874/) (2017)
- [Learning Important Features Through Propagating Activation Differences](https://mlsanity.com/paper/1704.02685/) (2017)
- [Hindsight Experience Replay](https://mlsanity.com/paper/1707.01495/) (2017)
- [Exploration by Random Network Distillation](https://mlsanity.com/paper/1810.12894/) (2018)
- [Diversity is All You Need: Learning Skills without a Reward Function](https://mlsanity.com/paper/1802.06070/) (2018)
- [Unifying Count-Based Exploration and Intrinsic Motivation](https://mlsanity.com/paper/1606.01868/) (2016)
- [Data-Efficient Hierarchical Reinforcement Learning](https://mlsanity.com/paper/1805.08296/) (2018)
- [The Option-Critic Architecture](https://mlsanity.com/paper/1609.05140/) (2016)
- [FeUdal Networks for Hierarchical Reinforcement Learning](https://mlsanity.com/paper/1703.01161/) (2017)
- [Minigrid & Miniworld: Modular & Customizable Reinforcement Learning Environments for Goal-Oriented Tasks](https://mlsanity.com/paper/2306.13831/) (2023)
- [#Exploration: A Study of Count-Based Exploration for Deep Reinforcement Learning](https://mlsanity.com/paper/1611.04717/) (2016)
- [Integrated Task and Motion Planning](https://mlsanity.com/paper/2010.01083/) (2020)
- [Large-Scale Study of Curiosity-Driven Learning](https://mlsanity.com/paper/1808.04355/) (2018)
- [Variational Intrinsic Control](https://mlsanity.com/paper/1611.07507/) (2016)
- [First return, then explore](https://mlsanity.com/paper/2004.12919/) (2020)
- [Semi-parametric Topological Memory for Navigation](https://mlsanity.com/paper/1803.00653/) (2018)
- [Skew-Fit: State-Covering Self-Supervised Reinforcement Learning](https://mlsanity.com/paper/1903.03698/) (2019)
- [Discovering and Achieving Goals via World Models](https://mlsanity.com/paper/2110.09514/) (2021)
- [Explore, Discover and Learn: Unsupervised Discovery of State-Covering Skills](https://mlsanity.com/paper/2002.03647/) (2020)
- [A Laplacian Framework for Option Discovery in Reinforcement Learning](https://mlsanity.com/paper/1703.00956/) (2017)
- [Unsupervised Control Through Non-Parametric Discriminative Rewards](https://mlsanity.com/paper/1811.11359/) (2018)
- [Maximum Entropy Gain Exploration for Long Horizon Multi-goal Reinforcement Learning](https://mlsanity.com/paper/2007.02832/) (2020)
- [Deep Hierarchical Planning from Pixels](https://mlsanity.com/paper/2206.04114/) (2022)
- [Autotelic Agents with Intrinsically Motivated Goal-Conditioned Reinforcement Learning: a Short Survey](https://mlsanity.com/paper/2012.09830/) (2020)
- [SDRL: Interpretable and Data-efficient Deep Reinforcement Learning Leveraging Symbolic Planning](https://mlsanity.com/paper/1811.00090/) (2018)
- [The Value-Improvement Path: Towards Better Representations for Reinforcement Learning](https://mlsanity.com/paper/2006.02243/) (2020)
- [PEORL: Integrating Symbolic Planning and Hierarchical Reinforcement Learning for Robust Decision-Making](https://mlsanity.com/paper/1804.07779/) (2018)
- [Predicate Invention for Bilevel Planning](https://mlsanity.com/paper/2203.09634/) (2022)
- [Learning Markov State Abstractions for Deep Reinforcement Learning](https://mlsanity.com/paper/2106.04379/) (2021)

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

- [Mastering Atari 2600 Games with Discovered Options](https://mlsanity.com/paper/2610.03604/) (2026)

## Abstract (arXiv)

Temporal abstraction via options can improve exploration in large environments. However, existing option discovery algorithms find subgoals that target all aspects of the state simultaneously. This state-reaching approach produces options that only apply in narrow regions of the state-space, eventually causing an explosion in the number of options that overwhelms the agent, and impedes progress on its primary task of reward maximization. We introduce an algorithm that instead identifies a small, relevant subset of features for each subgoal, yielding options that generalize broadly and accelerate exploration. Our approach learns abstract, transferrable options and achieves rapid exploration in three sparse-reward, image-based domains, including the Atari game MontezumasRevenge.