notesum.ai

Published at November 27

Learning for Long-Horizon Planning via Neuro-Symbolic Abductive Imitation

cs.LG

cs.AI

Released Date: November 27, 2024

Authors: Jie-Jing Shao¹, Hao-Ran Hao, Xiao-Wen Yang², Yu-Feng Li

Aff.: ¹National Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China; ²National Key Laboratory for Novel Software Technology, School of Artificial Intelligence, Nanjing University, Nanjing, China

Arxiv: http://arxiv.org/abs/2411.18201v1

Task (Averaged Length)	Eval	BC	DT	PDSketch	ABIL-BC	ABIL-DT
GotoSingle (3)	Basic	1.00	0.893 $\ \pm\$ 0.049	1.00	1.00	0.963 $\ \pm\$ 0.047
Goto (3)	Basic	0.843 $\ \pm\$ 0.006	0.720 $\ \pm\$ 0.044	1.00	0.900 $\ \pm\$ 0.046	0.900 $\ \pm\$ 0.020
Goto (3)	Gen	0.743 $\ \pm\$ 0.045	0.583 $\ \pm\$ 0.049	1.00	0.777 $\ \pm\$ 0.032	0.793 $\ \pm\$ 0.029
Pickup (4)	Basic	0.723 $\ \pm\$ 0.031	0.490 $\ \pm\$ 0.040	0.990 $\ \pm\$ 0.010	0.847 $\ \pm\$ 0.025	0.845 $\ \pm\$ 0.035
Pickup (4)	Gen	0.533 $\ \pm\$ 0.031	0.320 $\ \pm\$ 0.070	0.973 $\ \pm\$ 0.012	0.730 $\ \pm\$ 0.010	0.763 $\ \pm\$ 0.051
Open (6)	Basic	0.933 $\ \pm\$ 0.025	0.493 $\ \pm\$ 0.059	1.00	0.963 $\ \pm\$ 0.021	0.923 $\ \pm\$ 0.031
Open (6)	Gen	0.877 $\ \pm\$ 0.015	0.440 $\ \pm\$ 0.078	1.00	0.927 $\ \pm\$ 0.032	0.857 $\ \pm\$ 0.055
Put (9)	Basic	0.950 $\ \pm\$ 0.044	0.910 $\ \pm\$ 0.036	0.697 $\ \pm\$ 0.021	0.940 $\ \pm\$ 0.026	0.953 $\ \pm\$ 0.006
Put (9)	Gen	0.260 $\ \pm\$ 0.036	0.380 $\ \pm\$ 0.026	0.417 $\ \pm\$ 0.025	0.637 $\ \pm\$ 0.064	0.593 $\ \pm\$ 0.084
Unlock (10)	Basic	0.957 $\ \pm\$ 0.012	0.990 $\ \pm\$ 0.010	0.293 $\ \pm\$ 0.051	0.967 $\ \pm\$ 0.023	0.993 $\ \pm\$ 0.012
Unlock (10)	Gen	0.910 $\ \pm\$ 0.030	0.990 $\ \pm\$ 0.010	0.247 $\ \pm\$ 0.051	0.963 $\ \pm\$ 0.006	0.993 $\ \pm\$ 0.012
Averaged time per evaluation		0.174 seconds	0.260 seconds	8.170 seconds	0.320 seconds	0.354 seconds