Learning sparse relational transition models
Victoria Xia, Zi Wang, Kelsey Allen, Tom Silver, Leslie Pack Kaelbling
Abstract
We present a representation for describing transition models in complex uncertain domains using relational rules. For any action, a rule selects a set of relevant objects and computes a distribution over properties of just those objects in the resulting state given their properties in the previous state. An iterative greedy algorithm is used to construct a set of deictic references that determine which objects are relevant in any given state. Feed-forward neural networks are used to learn the transition distribution on the relevant objects' properties. This strategy is demonstrated to be both more versatile and more sample efficient than learning a monolithic transition model in a simulated domain in which a robot pushes stacks of objects on a cluttered table.
BibTeX
@inproceedings{
xia2018learning,
title={Learning sparse relational transition models},
author={Victoria Xia and Zi Wang and Leslie Pack Kaelbling},
booktitle={International Conference on Learning Representations},
year={2019},
url={https://openreview.net/forum?id=SJxsV2R5FQ},
}