 We explore a compositional principle for multi-layout training and find that policies trained in a small set of geometrically simple layouts successfully generalize to unseen and more complex layouts that exhibit composition of the simple structural elements available during training.
<clarity>  We explore a compositional principle for multi-layout training and find that policies trained in a small set of geometrically simple layouts successfully generalize to unseen and more complex layouts that exhibit composition of the simple structural elements available during training.
 We explore a compositional principle for multi-layout training and find that policies trained in a small set of geometrically simple layouts successfully generalize to more complex unseen layouts that exhibit composition of the simple structural elements available during training.