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Skill Chaining : Skill Discovery in Continuous Domains

We introduce skill chaining, a skill discovery method for continuous domains. Skill chaining produces chains of skills leading to a salient event—where salience can be defined simply as an end-of-task reward, or as a more sophisticated heuristic (e.g., an intrinsically interesting event (Singh et al., 2004)). The goal of each skill in the chain is to reach a state where its successor skill can be executed.