A Additional Experimental Results

Robot action primitives are agnostic to the exact geometry of the underlying robot, provided the robot is a manipulator arm. As noted in the related works section, Dynamic Motion Primitives (DMP) are an alternative skill formulation that is common robotics literature. Each primitive ran 200 low-level actions with a path length of five high level actions, while the low-level path length was 500. With raw actions, each episode took 16.49 We run an ablation to measure how often RAPS uses each primitive.