ENAP extracts an emergent Mealy automaton from visuomotor trajectories to act as a high-level planner for a low-level residual policy, yielding up to 27% higher success than end-to-end VLA policies in low-data regimes.
Learning symbolic models of stochastic domains.Journal of Artificial Intelligence Research, 29: 309–352, 2007
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Emergent Neural Automaton Policies: Learning Symbolic Structure from Visuomotor Trajectories
ENAP extracts an emergent Mealy automaton from visuomotor trajectories to act as a high-level planner for a low-level residual policy, yielding up to 27% higher success than end-to-end VLA policies in low-data regimes.