Learning Planning Abstractions
From Language

ICLR 2024

Weiyu Liu1*, Geng Chen1*, Joy Hsu1, Jiayuan Mao2†, Jiajun Wu1†
1Stanford, 2MIT
Paper arXiv Code

Abstract

This paper presents a framework for learning state and action abstractions in sequential decision-making domains. Our framework, planning abstraction from language (PARL), utilizes language-annotated demonstrations to automatically discover a symbolic and abstract action space and induce a latent state abstraction based on it. PARL consists of three stages: 1) recovering object-level and action concepts, 2) learning state abstractions, abstract action feasibility, and transition models, and 3) applying low-level policies for abstract actions. During inference, given the task description, PARL first makes abstract action plans using the latent transition and feasibility functions, then refines the high-level plan using low-level policies. PARL generalizes across scenarios involving novel object instances and environments, unseen concept compositions, and tasks that require longer planning horizons than settings it is trained on.

Overview

Approach

Overview.

PARL takes paired natural language instructions and demonstration trajectories as inputs. It recovers object-level concepts such as shapes and colors, and action concepts from the natural language. It then learns a planning-compatible model for object and action concepts. At test time, given novel instructions, it performs a combined high-level planning and low-level policy unrolling to output the next action to take.



Symbol Discovery

Overview.

PARL prompts a pretrained large language model (LLM) to parse instructions into a symbolic formula. Next, we extract the object-level and action concepts from the formulas.



Planning-Compatible Model Learning

Overview.

PARL grounds the discovered symbols using the demonstration data and interactions with the environment. We learn planning-compatible models, composed of (a) an object-level PCT encoder for extracting state abstractions and (b) an abstract transition Transformer for abstract transition and the feasibility prediction.



Generalizations

PARL generalizes (1) to scenarios with a different number of objects than those seen during training, (2) to unseen composition of action concepts and object concepts (e.g., generalizing from cleaning red plates and blue bowls to cleaning red bowls), (3) to unseen sequences of abstract actions, and (4) even to tasks that require a longer planning horizon.



BabyAI

Overview.

PARL can solve BabyAI tasks that requires a minimum of 5 abstract actions while only training on examples with at most 3 abstract actions. Each figure visualizes the initial state of the environment and the location of the agent (represented by the red arrow). On the right of each figure, the sequence of planned abstract actions is listed. The last abstract action in each list is the goal abstract action in the given language instruction.



Kitchen-Worlds

Overview.

PARL can also work on more visually complex 3D environments. Given the language goal of placing blue mug in the sink, PARL can reason about the geometry of the environment and perform planning with learned abstract latent space to predict the sequence of abstract actions.

BibTeX

@inproceedings{liu2024parl,
    title     = {Learning Planning Abstractions from Language},
    author    = {Liu, Weiyu and Chen, Geng and Hsu, Joy and Mao, Jiayuan and Wu, Jiajun},
    year      = {2024},
    booktitle = {ICLR 2024}
}