ContrastiveLearningasGoal-Conditioned ReinforcementLearning

We usethisideatoreinterpret aprior RLmethod asperforming contrastivelearning, and then use the idea to propose a much simpler method that achieves similar performance. Across arange ofgoal-conditioned RLtasks, wedemonstrate that contrastive RL methods achieve higher success rates than prior non-contrastive methods, including in the offline RL setting.