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Robin Schiewer, Anand Subramoney, Laurenz Wiskott

• Hierarchical model-based reinforcement learning (HMBRL) aims to combine the sample efficiency of model-based reinforcement learning with the abstraction capability of hierarchical reinforcement learning. While HMBRL has great potential, the structural and conceptual complexities of current approaches make it challenging to extract general principles, hindering understanding and adaptation to new use cases, and thereby impeding the overall progress of the field. In this work we describe a novel HMBRL framework and evaluate it thoroughly. We construct hierarchical world models that simulate the environment at various levels of temporal abstraction. These models are used to train a stack of agents that communicate top-down by proposing goals to their subordinate agents. A significant focus of this study is the exploration of a static and environment agnostic temporal abstraction, which allows concurrent training of models and agents throughout the hierarchy. Unlike most goal-conditioned H(MB)RL approaches, it also leads to comparatively low dimensional abstract actions. Although our HMBRL approach did not outperform traditional methods in terms of final episode returns, it successfully facilitated decision-making across two levels of abstraction. A central challenge in enhancing our method's performance, as uncovered through comprehensive experimentation, is model exploitation on the abstract level of our world model stack. We provide an in depth examination of this issue, discussing its implications and suggesting directions for future research to overcome this challenge. By sharing these findings, we aim to contribute to the broader discourse on refining HMBRL methodologies.