We study generalizable policy learning from demonstrations for complex low-level control (e.g., contact-rich object manipulations). We propose a novel hierarchical imitation learning method that utilizes sub-optimal demos. Firstly, we propose an observation space-agnostic approach that efficiently discovers the multi-step subskill decomposition of the demos in an unsupervised manner. By grouping temporarily close and functionally similar actions into subskill-level demo segments, the observations at the segment boundaries constitute a chain of planning steps for the task, which we refer to as the chain-of-thought (CoT). Next, we propose a Transformer-based design that effectively learns to predict the CoT as the subskill-level guidance. We couple action and subskill predictions via learnable prompt tokens and a hybrid masking strategy, which enable dynamically updated guidance at test time and improve feature representation of the trajectory for generalizable policy learning. Our method, Chain-of-Thought Predictive Control (CoTPC), consistently surpasses existing strong baselines on various challenging low-level manipulation tasks with sub-optimal demos. See project page at https://sites.google.com/view/cotpc.

MOTIVATION: Solubility and expression levels of proteins can be a limiting factor for large-scale studies and industrial production. By determining the solubility and expression directly from the protein sequence, the success rate of wet-lab experiments can be increased. RESULTS: In this study, we focus on predicting the solubility and usability for purification of proteins expressed in Escherichia coli directly from the sequence. Our model NetSolP is based on deep learning protein language models called transformers and we show that it achieves state-of-the-art performance and improves extrapolation across datasets. As we find current methods are built on biased datasets, we curate existing datasets by using strict sequence-identity partitioning and ensure that there is minimal bias in the sequences. AVAILABILITY AND IMPLEMENTATION: The predictor and data are available at https://services.healthtech.dtu.dk/service.php?NetSolP and the open-sourced code is available at https://github.com/tvinet/NetSolP-1.0. SUPPLEMENTARY INFORMATION: Supplementary data are available at Bioinformatics online.