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Predicate Invention for Bilevel Planning

arxiv.org · 23,350 words · saved by 1 readers

This is experimental HTML to improve accessibility. We invite you to report rendering errors. Use Alt+Y to toggle on accessible reporting links and Alt+Shift+Y to toggle off. Learn more about this project and help improve conversions. HTML conversions sometimes display errors due to content that did not convert correctly from the source. This paper uses the following packages that are not yet supported by the HTML conversion tool. Feedback on these issues are not necessary; they are known and are being worked on. Authors: achieve the best HTML results from your LaTeX submissions by following these best practices. [nobreak=true]def2Definition 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 high-level search for abstract plans is used to guide planning in the original transition space. Previous work has s

\newmdtheoremenv [nobreak=true]def2Definition Predicate Invention for Bilevel Planning Tom Silver \equalcontrib 1 , Rohan Chitnis \equalcontrib 2 , Nishanth Kumar 1 , Willie McClinton 1 , Tomás Lozano-Pérez 1 , Leslie Pack Kaelbling 1 , Joshua B. Tenenbaum 1 Abstract 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 high-level search for abstract plans is used to guide planning in the original transition space. Pr

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