联合学习谓词与动作实现零样本技能组合

Benedict Quartey, Sebastian Castro, Eric Rosen, Wil Thomason, George Konidaris, Stefanie Tellex

2026

摘要

本文提出PACTS模型，将技能建模为动作轨迹与谓词信念轨迹的联合生成过程，从而在单一模型内产生连贯的动作-结果序列。该方法通过在线谓词预测实现零样本技能组合与规划，提升了动作生成与谓词分类的内部表征能力。

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