Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning
Rohan Chitnis,Tom Silver,Joshua B. Tenenbaum,Tomás Lozano-Pérez,Leslie Pack Kaelbling,Rohan Chitnis,Tom Silver,Joshua B. Tenenbaum,Tomás Lozano-Pérez,Leslie Pack Kaelbling
In robotic domains, learning and planning are complicated by continuous state spaces, continuous action spaces, and long task horizons. In this work, we address these challenges with Neuro-Symbolic Relational Transition Models (NSRTs), a novel class of models that are data-efficient to learn, compatible with powerful robotic planning methods, and generalizable over objects. NSRTs have both symboli...