Learning Neuro-Symbolic Skills for Bilevel Planning

21 June 2022

Tomas Lozano-Perez

Papers citing "Learning Neuro-Symbolic Skills for Bilevel Planning"

43 / 43 papers shown

Title
MOSAIC: A Skill-Centric Algorithmic Framework for Long-Horizon Manipulation Planning Itamar Mishani Yorai Shaoul Maxim Likhachev 25 0 0 23 Apr 2025
Neuro-Symbolic Imitation Learning: Discovering Symbolic Abstractions for Skill Learning Leon Keller Daniel Tanneberg Jan Peters 44 0 0 27 Mar 2025
Curiosity-Driven Imagination: Discovering Plan Operators and Learning Associated Policies for Open-World Adaptation Pierrick Lorang Hong Lu Matthias Scheutz 36 0 0 06 Mar 2025
Bilevel Learning for Bilevel Planning Bowen Li Tom Silver Sebastian A. Scherer Alexander G. Gray 61 0 0 12 Feb 2025
Neuro-Symbolic AI in 2024: A Systematic Review Brandon C. Colelough William Regli NAI 54 9 0 09 Jan 2025
Learning for Long-Horizon Planning via Neuro-Symbolic Abductive Imitation Jie-Jing Shao Hao-Ran Hao Xiao-Wen Yang Yu-Feng Li 64 1 0 27 Nov 2024
Neuro-Symbolic AI: Explainability, Challenges, and Future Trends Xin Zhang Victor S. Sheng AI4TS 24 3 0 07 Nov 2024
LogiCity: Advancing Neuro-Symbolic AI with Abstract Urban Simulation Bowen Li Zhaoyu Li Qiwei Du Jinqi Luo Wenshan Wang ... Katia P. Sycara Pradeep Kumar Ravikumar Alexander G. Gray X. Si Sebastian A. Scherer AI4CE LRM 74 2 0 01 Nov 2024
VisualPredicator: Learning Abstract World Models with Neuro-Symbolic Predicates for Robot Planning Yichao Liang Nishanth Kumar Hao Tang Adrian Weller J. Tenenbaum Tom Silver Joao Henriques Kevin Ellis 30 7 0 30 Oct 2024
VQ-CNMP: Neuro-Symbolic Skill Learning for Bi-Level Planning Hakan Aktas Emre Ugur 16 1 0 13 Oct 2024
Effort Allocation for Deadline-Aware Task and Motion Planning: A Metareasoning Approach Yoonchang Sung Shahaf S. Shperberg Qi Wang Peter Stone 23 0 0 08 Oct 2024
Learning to Bridge the Gap: Efficient Novelty Recovery with Planning and Reinforcement Learning Alicia Li Nishanth Kumar Tomás Lozano-Pérez Leslie Kaelbling OffRL 28 0 0 28 Sep 2024
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics Yixuan Huang Christopher Agia Jimmy Wu Tucker Hermans Jeannette Bohg 3DPC 36 1 0 27 Aug 2024
Task and Motion Planning for Execution in the Real Tianyang Pan Rahul Shome Lydia E. Kavraki 22 2 0 05 Jun 2024
Composing Pre-Trained Object-Centric Representations for Robotics From "What" and "Where" Foundation Models Junyao Shi Jianing Qian Yecheng Jason Ma Dinesh Jayaraman OCL 24 4 0 20 Apr 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 27 21 0 03 Apr 2024
Practice Makes Perfect: Planning to Learn Skill Parameter Policies Nishanth Kumar Tom Silver Willie McClinton Linfeng Zhao Stephen Proulx Tomás Lozano-Pérez L. Kaelbling Jennifer Barry 41 18 0 22 Feb 2024
From Reals to Logic and Back: Inventing Symbolic Vocabularies, Actions, and Models for Planning from Raw Data Naman Shah Jayesh Nagpal Pulkit Verma Siddharth Srivastava NAI 26 8 0 19 Feb 2024
LoTa-Bench: Benchmarking Language-oriented Task Planners for Embodied Agents Jae-Woo Choi Youngwoo Yoon Hyobin Ong Jaehong Kim Minsu Jang 6 11 0 13 Feb 2024
Symbolic Manipulation Planning with Discovered Object and Relational Predicates Alper Ahmetoglu Erhan Öztop Emre Ugur 26 4 0 02 Jan 2024
Learning Top-k Subtask Planning Tree based on Discriminative Representation Pre-training for Decision Making Jingqing Ruan Kaishen Wang Qingyang Zhang Dengpeng Xing Bo Xu 15 0 0 18 Dec 2023
Human-in-the-Loop Task and Motion Planning for Imitation Learning Ajay Mandlekar Caelan Reed Garrett Danfei Xu Dieter Fox 29 15 0 24 Oct 2023
Neurosymbolic Reinforcement Learning and Planning: A Survey Kamal Acharya Waleed Raza Carlos Dourado Alvaro Velasquez Houbing Song NAI OffRL 9 15 0 02 Sep 2023
Discovering Predictive Relational Object Symbols with Symbolic Attentive Layers Alper Ahmetoglu Batuhan Celik Erhan Öztop Emre Ugur 14 6 0 02 Sep 2023
Logic-induced Diagnostic Reasoning for Semi-supervised Semantic Segmentation Chen Liang Wenguan Wang Jiaxu Miao Yi Yang NAI 19 29 0 24 Aug 2023
Embodied Lifelong Learning for Task and Motion Planning Jorge Armando Mendez Mendez L. Kaelbling Tomás Lozano-Pérez 11 16 0 13 Jul 2023
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability Xiaolin Fang Caelan Reed Garrett Clemens Eppner Tomás Lozano-Pérez L. Kaelbling D. Fox DiffM 10 17 0 22 Jun 2023
Robot Task Planning Based on Large Language Model Representing Knowledge with Directed Graph Structures Zhen Yue Bi Sheng Xing-tong Lu Wei-qin Pan Hai-peng Shi Zi-Yuan Chen Yi-shu Fang LLMAG LM&Ro 29 8 0 08 Jun 2023
Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers Yixuan Huang Nichols Crawford Taylor Adam Conkey Weiyu Liu Tucker Hermans 10 7 0 18 May 2023
Text2Motion: From Natural Language Instructions to Feasible Plans Kevin Qinghong Lin Christopher Agia Toki Migimatsu Marco Pavone Jeannette Bohg LM&Ro 11 264 0 21 Mar 2023
Embodied Active Learning of Relational State Abstractions for Bilevel Planning Amber Li Tom Silver 10 9 0 08 Mar 2023
Relative Behavioral Attributes: Filling the Gap between Symbolic Goal Specification and Reward Learning from Human Preferences L. Guan Karthik Valmeekam Subbarao Kambhampati 42 8 0 28 Oct 2022
LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation Shuo Cheng Danfei Xu 23 35 0 23 Oct 2022
Learning Efficient Abstract Planning Models that Choose What to Predict Nishanth Kumar Willie McClinton Rohan Chitnis Tom Silver Tomás Lozano-Pérez L. Kaelbling 19 18 0 16 Aug 2022
Learning Multi-Object Symbols for Manipulation with Attentive Deep Effect Predictors Alper Ahmetoglu Erhan Öztop Emre Ugur 6 4 0 01 Aug 2022
Learning Temporally Extended Skills in Continuous Domains as Symbolic Actions for Planning Jan Achterhold Markus Krimmel Joerg Stueckler 17 9 0 11 Jul 2022
Generalizable Task Planning through Representation Pretraining Chen Wang Danfei Xu Li Fei-Fei LM&Ro 53 26 0 16 May 2022
Predicate Invention for Bilevel Planning Tom Silver Rohan Chitnis Nishanth Kumar Willie McClinton Tomas Lozano-Perez L. Kaelbling J. Tenenbaum 8 39 0 17 Mar 2022
Leveraging Approximate Symbolic Models for Reinforcement Learning via Skill Diversity L. Guan S. Sreedharan Subbarao Kambhampati 46 18 0 06 Feb 2022
Skill Induction and Planning with Latent Language Pratyusha Sharma Antonio Torralba Jacob Andreas LM&Ro 178 108 0 04 Oct 2021
Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation Yifeng Zhu Peter Stone Yuke Zhu 33 57 0 28 Sep 2021
Discovering State and Action Abstractions for Generalized Task and Motion Planning Aidan Curtis Tom Silver J. Tenenbaum Tomas Lozano-Perez L. Kaelbling 33 27 0 23 Sep 2021
Understanding Boolean Function Learnability on Deep Neural Networks: PAC Learning Meets Neurosymbolic Models Márcio Nicolau Anderson R. Tavares Zhiwei Zhang Pedro H. C. Avelar J. Flach Luís C. Lamb Moshe Y. Vardi NAI 17 1 0 13 Sep 2020