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Life sciences · Preprint
arXiv · October 14, 2026
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We develop a self-supervised reinforcement learning algorithm that learns to build towers of up to eight cubes from scratch, without prior data, rewards, demonstrations, or pretrained models. Our method, Contrastive Planning via Spherical Linear Interpolation (C-Slerp), uses contrastive representations as reusable building blocks and repeatedly composes them to infer a sequence of intermediate waypoints. Under our hyperspherical parameterization, the learned representations allow intermediate waypoints to be inferred in closed form through spherical linear interpolation, without training a separate high-level policy or performing graph search. Importantly, the representation geometry also tells us how to adjust the number of waypoints based on the difficulty of each goal-reaching problem. Experiments show that our method succeeds on long-horizon navigation and robotic manipulation tasks, including settings where strong baselines fail to achieve a single success. Ablations further show that using a fixed number of waypoints substantially degrades performance, highlighting the importance of adapting the plan to task difficulty.