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Hierarchical Abstraction for Combinatorial Generalization in Object Rearrangement

We demonstrate how to generalize over a combinatorially large space of rearrangement tasks from only pixel observations by constructing from video demonstrations a factorized transition graph over entity state transitions that we use for control.

Michael Chang, Alyssa Li Dayan, Franziska Meier, Thomas L. Griffiths, Sergey Levine, Amy Zhang