We’ve developed a hierarchical reinforcement learning algorithm that learns high-level actions useful for solving a range of tasks, allowing fast solving of tasks requiring thousands of timesteps. Our algorithm, when applied to a set of navigation problems, discovers a set of high-level actions for walking and crawling in different directions, which enables the agent to master new navigation tasks quickly. Details: https://blog.openai.com/learning-a-hierarchy/ Code: https://github.com/openai/mls