Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Graph-based Reinforcement Learning meets Mixed Integer Programs: An
  application to 3D robot assembly discovery   Robot assembly discovery is a challenging problem that lives at the
intersection of resource allocation and motion planning. The goal is to combine
a predefined set of objects to form something new while considering task
execution with the robot-in-the-loop. In this work, we tackle the problem of
building arbitrary, predefined target structures entirely from scratch using a
set of Tetris-like building blocks and a robotic manipulator. Our novel
hierarchical approach aims at efficiently decomposing the overall task into
three feasible levels that benefit mutually from each other. On the high level,
we run a classical mixed-integer program for global optimization of block-type
selection and the blocks' final poses to recreate the desired shape. Its output
is then exploited to efficiently guide the exploration of an underlying
reinforcement learning (RL) policy. This RL policy draws its generalization
properties from a flexible graph-based representation that is learned through
Q-learning and can be refined with search. Moreover, it accounts for the
necessary conditions of structural stability and robotic feasibility that
cannot be effectively reflected in the previous layer. Lastly, a grasp and
motion planner transforms the desired assembly commands into robot joint
movements. We demonstrate the performance of the proposed method on a set of
competitive simulated robot assembly discovery environments and report
performance and robustness gains compared to an unstructured end-to-end
approach. Videos are available at https://sites.google.com/view/rl-meets-milp .

9
The categories of this paper are: nlin
26
The categories of this paper are: bayes-an
16
The categories of this paper are: stat
4
The categories of this paper are: cond-mat
25
The categories of this paper are: patt-sol
29
The categories of this paper are: funct-an
21
The categories of this paper are: adap-org
23
The categories of this paper are: solv-int
11
The categories of this paper are: hep-lat
12
The categories of this paper are: nucl-th
19
The categories of this paper are: eess
7
The categories of this paper are: hep-th
8
The categories of this paper are: hep-ex
2
The categories of this paper are: math
22
The categories of this paper are: chao-dyn
14
The categories of this paper are: math-ph