How to handle multi task RL?

Hi everyone,

I’m getting very confused when it comes to doing multiple task using RL.

Example: picking and placing multiple balls from an environment.

Should I train one subtask of picking and placing one ball, then use multitask for inference and loop over?

Also is this ultimately a planner?

But the policy will not learn about the surrounding. Since observation is focused for one ball.

Am I missing something?

Chatgpt’s answer is around hierarchical RL. Is this the only solution?