Object Representations for Learning and Reasoning
Thirty-fourth Conference on Neural Information Processing Systems (NeurIPS)
December 11, 2020, Virtual Workshop
Grounding Lifted PDDL Action Models
- Masataro Asai
We propose FOSAE++, an unsupervised end-to-end neural system that generates a compact discrete state transition model (dynamics / action model) from raw visual observations. Our representation can be exported to Planning Domain Description Language (PDDL), allowing symbolic state-of-the-art classical planners to perform high-level task planning. FOSAE++ expresses states and actions in First-Order Logic (FOL). It is the first unsupervised neural system that fully supports FOL in PDDL action modeling, while existing systems are limited to continuous, propositional, or property-based representations, and/or require labeled actions.