flâneur

Predicate Invention for Bilevel Planning

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

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\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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