Andreu Matoses Gimenez

Flow Policies as Actions of Skill-Level World Models: Learned and Symbolic Abstractions for Long-Horizon Planning

Latent world models enable robots to plan by predicting the consequences of actions. Planning long tasks with control-rate actions requires many prediction steps, which enlarges the search space and accumulates error. Skill-level actions shorten these sequences, but a symbolic skill vocabulary requires domain knowledge...