“…A number of approaches have explored the learning of primitives or options from demonstrations together with a high-level controller that is either learned from demonstrations [Kroemer et al, 2015, Krishnan et al, 2017, Ding et al, 2019, Lynch et al, 2020, or learned from interactions with the environment [Manschitz et al, 2015, Kipf et al, 2019, Shankar et al, 2019, or hand specified [Pastor et al, 2009, Fox et al, 2019. AQuaDem can be loosely interpreted as a two-level procedure as well, where the primitives (action discretization step) are learned fully offline, however there is no concept of goal nor temporally extended actions.…”