BDDL-based symbolic verification and GroupAdapt scheduling let an 8B RL planner reach 97.3 Strict-Pass on BEHAVIOR-1000 with 79 percent shorter plans than prior baselines.
repeated for 4 baskets Goal for each basket: inside(candle, basket) inside(cookie, basket) inside(cheese, basket) inside(bow, basket)
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Plan Right, Then Plan Tight: Symbolic RL for Efficient Embodied Reasoning
BDDL-based symbolic verification and GroupAdapt scheduling let an 8B RL planner reach 97.3 Strict-Pass on BEHAVIOR-1000 with 79 percent shorter plans than prior baselines.