Lifelong Experience Abstraction and Planning

We present LEAP (Lifelong Experience Abstraction and Planning), a framework for continual behavior learning in embodied agents through interaction with the environment and guidance from humans. LEAP addresses the challenge of representing flexible knowledge about tasks and environments --- ranging from constraints and subgoal sequences to action plans and high-level goals --- in a unified framework. At its core, LEAP builds on the Crow Definition Language (CDL), a behavior rule language that integrates imperative programming with declarative planning by allowing agents to express both executable subroutines and subgoal hierarchies. Leveraging large language models (LLMs), LEAP translates diverse human instructions into CDL programs, generates planning-compatible code, and abstracts reusable behavior rules from successful executions to support future generalization. LEAP maintains a library of such CDL programs, enabling the agent to accumulate and refine its behavioral repertoire over time. We evaluate LEAP on the VirtualHome benchmark, demonstrating its ability to represent a wide variety of human instructions and its capacity to continually improve task performance through experience and interaction.