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Xue-Tao Zhang

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Jul 2026

DAGR: State-Conditioned Goal Representations via Difference-Aware Goal Cross-Attention

DAGR is proposed, which refines the static embedding of any late-fusion encoder into a state-conditioned one through multi-scale gated cross-attention, and traces the gain to the gated residual rather than to the difference bias that names the method.

Xing Lei, Wen-Yan Yang, Xuetao Zhang et al. · 0 citations
#machine learning Preprint Jul 2026

DAGR: State-Conditioned Goal Representations via Difference-Aware Goal Cross-Attention

Goal-conditioned reinforcement learning hinges on how the goal is encoded. Contrastive, metric, temporal-distance, and information-theoretic encoders differ in objective. They still share one trait. None of them sees the current state. Such a state-independent embedding cannot mark which part of the goal still needs ac...

Xing Lei, Wenyan Yang, Xuetao Zhang et al. · 0 citations

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