相关论文: Neuro-Symbolic Procedural Planning with Commonsens…

Procedural planning, which entails decomposing a high-level goal into a sequence of temporally ordered steps, is an important yet intricate task for machines. It involves integrating common-sense knowledge to reason about complex and often…

Robots often fail at everyday tasks because instructions skip commonsense details like hidden preconditions and small subgoals. Traditional symbolic planners need these details to be written explicitly, which is time consuming and often…

In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…

We propose cognitive prompting as a novel approach to guide problem-solving in large language models (LLMs) through structured, human-like cognitive operations, such as goal clarification, decomposition, filtering, abstraction, and pattern…

Effective human-robot collaboration requires the ability to learn personalized concepts from a limited number of demonstrations, while exhibiting inductive generalization, hierarchical composition, and adaptability to novel constraints.…

Video procedure planning, i.e., planning a sequence of action steps given the video frames of start and goal states, is an essential ability for embodied AI. Recent works utilize Large Language Models (LLMs) to generate enriched action step…

Reinforcement learning is an appropriate and successful method to robustly perform low-level robot control under noisy conditions. Symbolic action planning is useful to resolve causal dependencies and to break a causally complex problem…

While Pre-trained Language Models (PLMs) internalize a great amount of world knowledge, they have been shown incapable of recalling these knowledge to solve tasks requiring complex & multi-step reasoning. Similar to how humans develop a…

Large language models (LLMs) have scaled up to unlock a wide range of complex reasoning tasks with the aid of various prompting methods. However, current prompting methods generate natural language intermediate steps to help reasoning,…

Path planners that can interpret free-form natural language instructions hold promise to automate a wide range of robotics applications. These planners simplify user interactions and enable intuitive control over complex semi-autonomous…

While Large Language Models (LLMs) can solve many NLP tasks in zero-shot settings, applications involving embodied agents remain problematic. In particular, complex plans that require multi-step reasoning become difficult and too costly as…

Planning is a fundamental task in artificial intelligence that involves finding a sequence of actions that achieve a specified goal in a given environment. Large language models (LLMs) are increasingly used for applications that require…

Bridging continuous perceptual signals and discrete symbolic reasoning is a fundamental challenge in AI systems that must operate under uncertainty. We present a neuro-symbolic framework that explicitly models and propagates uncertainty…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

Large Language Models (LLMs) have shown promise in solving natural language-described planning tasks, but their direct use often leads to inconsistent reasoning and hallucination. While hybrid LLM-symbolic planning pipelines have emerged as…

This paper proposes a novel learning architecture for acquiring generalizable high-level symbolic skills from a few unlabeled low-level skill trajectory demonstrations. The architecture involves neural networks for symbol discovery and…

Large language models (LLMs) have achieved remarkable performance in generating human-like text and solving reasoning tasks of moderate complexity, such as question-answering and mathematical problem-solving. However, their capabilities in…

Intelligent agents must reason over both continuous dynamics and discrete representations to generate effective plans in complex environments. Previous studies have shown that symbolic abstractions can emerge from neural effect predictors…

Large language models (LLMs) have demonstrated strong performance in a wide-range of language tasks without requiring task-specific fine-tuning. However, they remain prone to hallucinations and inconsistencies, and often struggle with…

Recent approaches to zero-shot commonsense reasoning have enabled Pre-trained Language Models (PLMs) to learn a broad range of commonsense knowledge without being tailored to specific situations. However, they often suffer from human…