BISON learns bilevel policies over symbolic world models to generalize long-horizon robotic planning beyond VLA and end-to-end baselines while remaining efficient even at 10,000-object scale.
Entity-centric reinforcement learning for object manipulation from pixels
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Learning Bilevel Policies over Symbolic World Models for Long-Horizon Planning
BISON learns bilevel policies over symbolic world models to generalize long-horizon robotic planning beyond VLA and end-to-end baselines while remaining efficient even at 10,000-object scale.