Learning Neuro-Symbolic Skills for Bilevel Planning
It is challenging for robots to solve tasks in environments with continuous state and action spaces, long horizons, and sparse feedback. Hierarchical approaches such as task and motion planning (TAMP) address this challenge, enabling efficient problem solving by decomposing decision-making into two...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/152636 |