PACTS jointly model action trajectories and predicate belief trajectories in a single generative policy, enabling zero-shot skill composition via symbolic planning without retraining.
Verifiably following complex robot instructions with foundation models,
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Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition
PACTS jointly model action trajectories and predicate belief trajectories in a single generative policy, enabling zero-shot skill composition via symbolic planning without retraining.