Learning Refinement Cost Estimators for Bilevel
Planning
Name
luong-luong-meng-eecs-2023-thesis.pdf
Description
Thesis PDF
Size
1.06 MB
Format
Adobe PDF
Checksum (MD5)
6353d464a92930cbc8e2901fef591b66
Author(s)
Luong, Lilian
Advisor(s)
Kaelbling, Leslie P.
Silver, Tom
Date Issued
June 2023
Publisher
Massachusetts Institute of Technology
Abstract
Bilevel planning is an effective approach for solving complex task and motion planning (TAMP) problems with continuous state and action spaces, that involves first searching for a high-level abstract plan and then refining it into a sequence of lowlevel actions. Although the low-level refinement process is a significant contributor to the total time needed to solve a task, this cost is typically unaccounted for during high-level planning. This can result in undesirable behavior if abstract plans that are difficult or even impossible to refine are selected over alternatives that may be slightly longer but can also be refined significantly faster. This work develops a method for learning to estimate the cost of refining an abstract plan and a framework for using the estimator to guide high-level search in a bilevel planner. We demonstrate using two environments that our proposed approach considerably improves on the combined planning and execution cost required for tasks compared to several baselines, including a standard benchmark bilevel planner and alternative estimator models.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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