Robotic planning problems in hybrid state and action spaces can be solved by integrated task and motion planners (TAMP) that handle the complex interaction between motion-level decisions and task-level plan feasibility. TAMP approaches rely on domain-specific symbolic operators to guide the task-level search, making planning efficient. In this work, we formalize and study the problem of operator learning for TAMP. Central to this study is the view that operators define a lossy abstraction of the transition model of the underlying domain. We then propose a bottom-up relational learning method for operator learning and show how the learned operators can be used for planning in a TAMP system. Experimentally, we provide results in three domains, including long-horizon robotic planning tasks. We find our approach to substantially outperform several baselines, including three graph neural network-based model-free approaches based on recent work. Video: https://youtu.be/iVfpX9BpBRo

Traditionally, industry solutions for building a task-oriented dialog system have relied on helping dialog authors define rule-based dialog managers, represented as dialog flows. While dialog flows are intuitively interpretable and good for simple scenarios, they fall short of performance in terms of the flexibility needed to handle complex dialogs. On the other hand, purely machine-learned models can handle complex dialogs, but they are considered to be black boxes and require large amounts of training data. In this demonstration, we showcase Conversation Learner, a machine teaching tool for building dialog managers. It combines the best of both approaches by enabling dialog authors to create a dialog flow using familiar tools, converting the dialog flow into a parametric model (e.g., neural networks), and allowing dialog authors to improve the dialog manager (i.e., the parametric model) over time by leveraging user-system dialog logs as training data through a machine teaching interface.

We address the problem of efficient exploration for learning lifted operators in sequential decision-making problems without extrinsic goals or rewards. Inspired by human curiosity, we propose goal-literal babbling (GLIB), a simple and general method for exploration in such problems. GLIB samples goals that are conjunctions of literals, which can be understood as specific, targeted effects that the agent would like to achieve in the world, and plans to achieve these goals using the operators being learned. We conduct a case study to elucidate two key benefits of GLIB: robustness to overly general preconditions and efficient exploration in domains with effects at long horizons. We also provide theoretical guarantees and further empirical results, finding GLIB to be effective on a range of benchmark planning tasks.

Neural planners for RDDL MDPs produce deep reactive policies in an offline fashion. These scale well with large domains, but are sample inefficient and time-consuming to train from scratch for each new problem. To mitigate this, recent work has studied neural transfer learning, so that a generic planner trained on other problems of the same domain can rapidly transfer to a new problem. However, this approach only transfers across problems of the same size. We present the first method for neural transfer of RDDL MDPs that can transfer across problems of different sizes. Our architecture has two key innovations to achieve size independence: (1) a state encoder, which outputs a fixed length state embedding by max pooling over varying number of object embeddings, (2) a single parameter-tied action decoder that projects object embeddings into action probabilities for the final policy. On the two challenging RDDL domains of SysAdmin and Game Of Life, our approach powerfully transfers across problem sizes and has superior learning curves over training from scratch.

ABSTRACT Neural conversation models are attractive because one can train a model directly on dialog examples with minimal labeling. Witha small amount of data, however, they often fail to generalize over test data since they tend to capture spurious features instead of semantically meaningful domain knowledge. Toaddress this issue, we propose a novel approach that allows any human teachers to transfer their domain knowledge tothe conversation model in the form of natural language rules.We tested our method with three different dialog datasets. The improved performance across all domains demonstrates the efficacy of our proposed method. Index Terms-- conversational agents, domain knowledge, naturallanguage rule, neural conversational model 1. INTRODUCTION Recently, conversational systems have been increasingly adopting neural approaches [1, 2, 3, 4, 5, 6, 7].

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. Many complex domains are appropriately described in terms of sets of objects, properties of those objects, and relations among them. We are interested in the problem of taking actions to change the state of such complex systems, in order to achieve some objective. To do this, we require a transition model, which describes the system state that results from taking a particular action, given the previous system state.

We present a general constraint-based encoding for domain-independent task planning. Task planning is characterized by causal relationships expressed as conditions and effects of optional actions. Possible actions are typically represented by templates, where each template can be instantiated into a number of primitive actions. While most previous work for domain-independent task planning has focused on primitive actions in a state-oriented view, our encoding uses a fully lifted representation at the level of action templates. It follows a time-oriented view in the spirit of previous work in constraint-based scheduling. As a result, the proposed encoding is simple and compact as it grows with the number of actions in a solution plan rather than the number of possible primitive actions. When solved with an SMT solver, we show that the proposed encoding is slightly more efficient than state-of-the-art methods on temporally constrained planning benchmarks while clearly outperforming other fully constraint-based approaches.

In this paper, we describe an approach for learning planning domain models directly from natural language (NL) descriptions of activity sequences. The modelling problem has been identified as a bottleneck for the widespread exploitation of various technologies in Artificial Intelligence, including automated planners. There have been great advances in modelling assisting and model generation tools, including a wide range of domain model acquisition tools. However, for modelling tools, there is the underlying assumption that the user can formulate the problem using some formal language. And even in the case of the domain model acquisition tools, there is still a requirement to specify input plans in an easily machine readable format. Providing this type of input is impractical for many potential users. This motivates us to generate planning domain models directly from NL descriptions, as this would provide an important step in extending the widespread adoption of planning techniques. We start from NL descriptions of actions and use NL analysis to construct structured representations, from which we construct formal representations of the action sequences. The generated action sequences provide the necessary structured input for inducing a PDDL domain, using domain model acquisition technology. In order to capture a concise planning model, we use an estimate of functional similarity, so sentences that describe similar behaviours are represented by the same planning operator. We validate our approach with a user study, where participants are tasked with describing the activities occurring in several videos. Then our system is used to learn planning domain models using the participants' NL input. We demonstrate that our approach is effective at learning models on these tasks.