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arXiv · 2606.09476

Goal Sets, Not Goal States: Queryable Robot Goals through Goal-Set Hindsight Relabeling

Carlos Vélez García·Miguel Cazorla·Jorge Pomares
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Abstract

Hindsight relabeling usually turns achieved future states into exact goals, which can overconstrain offline robot learning when task success depends only on a subset of the state. We propose Goal-Set Hindsight Relabeling (GS-HER), a predicate-level generalization of HER in which achieved states certify query-defined goal sets rather than singleton goal states. A binary query specifies which variables define success, making the goal predicate an inference-time input while leaving the underlying offline GCRL algorithm unchanged. Across OGBench tasks and five offline goal-conditioned learners, GS-HER improves performance when full-state goals are bottlenecked by nuisance dimensions and turns hindsight relabeling into a reusable goal interface: one checkpoint can answer multiple robot goal predicates without retraining.

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Carlos Vélez García, Miguel Cazorla, Jorge Pomares. 2026-06-08. Goal Sets, Not Goal States: Queryable Robot Goals through Goal-Set Hindsight Relabeling. https://arxiv.org/abs/2606.09476

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