相关论文: PSALM-V: Automating Symbolic Planning in Interacti…

Vision-Language models (VLMs) achieve strong performance on multimodal tasks but often fail at systematic visual reasoning tasks, leading to inconsistent or illogical outputs. Neuro-symbolic methods promise to address this by inducing…

Neurosymbolic approaches can add robustness to opaque neural systems by incorporating explainable symbolic representations. However, previous approaches have not used formal logic to contextualize queries to and validate outputs of large…

Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tuning; end-to-end learning bypasses…

While Large Language Models (LLMs) provide semantic flexibility for robotic task planning, their susceptibility to hallucination and logical inconsistency limits their reliability in long-horizon domains. To bridge the gap between…

The use of Large Language Models (LLMs) for generating Behavior Trees (BTs) has recently gained attention in the robotics community, yet remains in its early stages of development. In this paper, we propose a novel framework that leverages…

The development of Vision-Language-Action (VLA) models has been significantly accelerated by pre-trained Vision-Language Models (VLMs). However, most existing end-to-end VLAs treat the VLM primarily as a multimodal encoder, directly mapping…

Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Visual reasoning is dominated by end-to-end neural networks scaled to billions of model parameters and training examples. However, even the largest models struggle with compositional reasoning, generalization, fine-grained spatial and…

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…

We propose Neuro-Symbolic Visual Dialog (NSVD) -the first method to combine deep learning and symbolic program execution for multi-round visually-grounded reasoning. NSVD significantly outperforms existing purely-connectionist methods on…

Large Language Models (LLMs) have shown human-like reasoning abilities but still struggle with complex logical problems. This paper introduces a novel framework, Logic-LM, which integrates LLMs with symbolic solvers to improve logical…

Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…

Deep reinforcement learning (DRL) may explore infeasible actions during training and execution. Existing approaches assume a symbol grounding function that maps high-dimensional states to consistent symbolic representations and a manually…

The integration of large language models (LLMs) with embodied agents has improved high-level reasoning capabilities; however, a critical gap remains between semantic understanding and physical execution. While vision-language-action (VLA)…

The rapid progress of vision--language models (VLMs) has sparked growing interest in robotic control, where natural language can express the operation goals while visual feedback links perception to action. However, directly deploying…

Vision-Language Models (VLMs) have recently demonstrated strong capabilities in mapping multimodal observations to robot behaviors. However, most current approaches rely on end-to-end visuomotor policies that remain opaque and difficult to…

Vision-language models (VLMs) have shown strong performance on static visual understanding, yet they still struggle with dynamic spatial reasoning that requires imagining how scenes evolve under egocentric motion. Recent efforts address…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

The potential of Vision-Language Models (VLMs) often remains underutilized in handling complex text-based problems, particularly when these problems could benefit from visual representation. Resonating with humans' ability to solve complex…