What you want is called hierarchical RL. I doubt unity has a built in agent for it but hugging face may have one since they like unity, not sure Models - Hugging Face. The standard task for this is a soccer game simulation, exactly as you mention. This is a paper of a real robot doing this task on my “not got to that yet” list. [2208.01160] Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot
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