@article{hierarchicalentitycentricreinforcementle,
  title = {Hierarchical Entity-centric Reinforcement Learning with Factored Subgoal Diffusion},
  author = {Dan Haramati and Carl Qi and Tal Daniel and Amy Zhang and Aviv Tamar and George Konidaris},
  year = {2026},
  eprint = {2602.02722},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.02722},
}