Hierarchical Reinforcement Learning

This idea is very similar to breaking down large number of lines of code to smaller functions each performing a very specific task. Let's look at an example, Suppose the agent has to clear or set a dining table. This includes the task of reaching and grasping dishes. These are high level tasks. On a lower level, it requires the task of controlling and moving the limbs and then the fingers to reach out and grasp objects and subsequently put them in the proper place.