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continuous state and action spaces is bilevel planning, wherein a high- level search over an abstraction of an environment is used to guide low-level decision-making. Recent work has shown how to enable such bilevel planning by learning abstract models in the form of symbolic operators and neural sam- plers. In this work, we show that existing symbolic operator learning approaches fall short in many robotics domains where a robot’s actions tend to cause a large number of irrelevant changes in the abstract state. This is primarily because they attempt to learn operators that exactly predict all observed changes in the abstract state. To overcome this issue, we propose to learn operators that ‘choose what to predict’ by only modelling changes necessary for abstract planning to achieve specified goals. Experimentally, we show that our approach learns operators that lead to efficient planning across 10 different hybrid robotics domains, including 4 from the challenging BEHAVIOR-100 benchmark, while generalizing to novel initial states, goals, and objects.
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Predicate Invention for Bilevel Planning
Efficient planning in continuous state and action spaces is fundamentally hard, even when the transition model is deterministic and known. One way to alleviate this challenge is to perform bilevel planning with abstractions, where a highlevel search for abstract plans is used to guide planning in the original transition space. Previous work has shown that when state abstractions in the form of symbolic predicates are hand-designed, operators and samplers for bilevel planning can be learned from demonstrations. In this work, we propose an algorithm for learning predicates from demonstrations, eliminating the need for manually specified state abstractions. Our key idea is to learn predicates by optimizing a surrogate objective that is tractable but faithful to our real efficient-planning objective. We use this surrogate objective in a hill-climbing search over predicate sets drawn from a grammar. Experimentally, we show across four robotic planning environments that our learned abstractions are able to quickly solve held-out tasks, outperforming six baselines.
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- Award ID(s):
- 2214177
- PAR ID:
- 10444335
- Date Published:
- Journal Name:
- Proceedings of the AAAI Conference on Artificial Intelligence
- ISSN:
- 2159-5399
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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This paper addresses the problem of learning abstractions that boost robot planning performance while providing strong guarantees of reliability. Although state-of-the-art hierarchical robot planning algorithms allow robots to efficiently compute long-horizon motion plans for achieving user desired tasks, these methods typically rely upon environment-dependent state and action abstractions that need to be hand-designed by experts. We present a new approach for bootstrapping the entire hierarchical planning process. This allows us to compute abstract states and actions for new environments automatically using the critical regions predicted by a deep neural network with an auto-generated robot-specific architecture. We show that the learned abstractions can be used with a novel multi-source bi-directional hierarchical robot planning algorithm that is sound and probabilistically complete. An extensive empirical evaluation on twenty different settings using holonomic and non-holonomic robots shows that (a) our learned abstractions provide the information necessary for efficient multi-source hierarchical planning; and that (b) this approach of learning, abstractions, and planning outperforms state-of-the-art baselines by nearly a factor of ten in terms of planning time on test environments not seen during training.more » « less
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1609/aaai.v37i10.26429
