Learning constraint-based planning models from demonstrations
João Loula,Kelsey Allen,Tom Silver,Josh Tenenbaum,João Loula,Kelsey Allen,Tom Silver,Josh Tenenbaum
How can we learn representations for planning that are both efficient and flexible? Task and motion planning models are a good candidate, having been very successful in long-horizon planning tasks-however, they've proved challenging for learning, relying mostly on hand-coded representations. We present a framework for learning constraint-based task and motion planning models using gradient descent...
