Skip to yearly menu bar Skip to main content

Workshop: Foundation Models for Decision Making

Compositional Foundation Models for Hierarchical Planning

Anurag Ajay · Seungwook Han · Yilun Du · Shuang Li · Abhi Gupta · Tommi Jaakkola · Josh Tenenbaum · Leslie Kaelbling · Akash Srivastava · Pulkit Agrawal

[ ] [ Project Page ]
presentation: Foundation Models for Decision Making
Fri 15 Dec 6:15 a.m. PST — 3:30 p.m. PST


To make effective decisions in novel environments with long-horizon goals, it is crucial to engage in hierarchical reasoning across spatial and temporal scales. This entails planning abstract subgoal sequences, visually reasoning about the underlying plans, and executing actions in accordance with the devised plan through visual-motor control. We propose Compositional Foundation Models for Hierarchical Planning (HiP), a foundation model which leverages multiple expert foundation model, trained individually on language, vision and action data, jointly together to solve long-horizon tasks. We use a large language model to construct symbolic plans that are grounded in the environment through a large video diffusion model. Generated video plans are then grounded to visual-motor control, through an inverse dynamics model that infers actions from generated videos. To enable effective reasoning within this hierarchy, we enforce consistency between the models via iterative refinement. We illustrate the efficacy and adaptability of our approach in three different long-horizon table-top manipulation tasks.

Chat is not available.