Not Throwing Away My Shot: Planning Ahead With Dual Subgoals in Long-Horizon Robot Manipulation Tasks

Policy learning often encounters difficulties in long-horizon tasks. Subgoal-conditioned policies address longhorizon problems by decomposing them into manageable segments, but they usually struggle with identifying informative subgoals. To address this limitation, we propose PDS (planning with dual subgoal), an architecture that learns short-horizon and low-variance subgoals in embedding space, ensuring the planning both reachable and consistent. We begin by analyzing the impact of horizon and consistency on the performance of subgoal-conditioned policies. We evaluate the performance of commonly used subgoal definitions (time-based, visual-based, and language-based) in tasks with different lengths. Subsequently, we demonstrate that our approach, which predicts and conditions on dual subgoals, improves success rates and enhances stability across diverse tasks in simulation and real-world.