从视觉图像自动发现机器人重排任务的抽象结构。

Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating execution to low-level motor skills -- an ability that enables efficient problem solving in complex environments. In robotics, abstractions and hierarchical reasoning have long been central to planning, yet they are typically hand-engineered, demanding significant human effort and limiting scalability. Automating the discovery of useful abstractions directly from visual data would make planning frameworks more scalable and more applicable to real-world robotic domains. In this work, we focus on rearrangement tasks where the state is represented with raw images, and propose a method to induce discrete, graph-structured abstractions by combining structural constraints with an attention-guided visual distance. Our approach leverages the inherent bipartite structure of rearrangement problems, integrating structural constraints and visual embeddings into a unified framework. This enables the autonomous discovery of abstractions from vision alone, which can subsequently support high-level planning. We evaluate our method on two rearrangement tasks in simulation and show that it consistently identifies meaningful abstractions that facilitate effective planning and outperform existing approaches.