相关论文: Fast Task Planning with Neuro-Symbolic Relaxation

We leverage convex and bilevel optimization techniques to develop a general gradient-based parameter learning framework for neural-symbolic (NeSy) systems. We demonstrate our framework with NeuPSL, a state-of-the-art NeSy architecture. To…

Multi-vehicle trajectory planning is a non-convex problem that becomes increasingly difficult in dense environments due to the rapid growth of collision constraints. Efficient exploration of feasible behaviors and resolution of tight…

The computational demands of modern AI services are increasingly shifting execution beyond centralized clouds toward a computing continuum spanning edge and end devices. However, the scale, heterogeneity, and cross-layer dependencies of…

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…

The field of Neural-Symbolic (NeSy) systems is growing rapidly. Proposed approaches show great promise in achieving symbiotic unions of neural and symbolic methods. However, a unifying framework is needed to organize common NeSy modeling…

Nowadays, Large Language Models (LLMs) have been gradually employed to solve complex tasks. To face the challenge, task decomposition has become an effective way, which proposes to divide a complex task into multiple simpler subtasks and…

Recent years have witnessed the rapid development of Neuro-Symbolic (NeSy) AI systems, which integrate symbolic reasoning into deep neural networks. However, most of the existing benchmarks for NeSy AI fail to provide long-horizon reasoning…

In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…

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…

While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…

Large language models (LLMs) have demonstrated strong potential in long-horizon decision-making tasks, such as embodied manipulation and web interaction. However, agents frequently struggle with endless trial-and-error loops or deviate from…

A factored Nonlinear Program (Factored-NLP) explicitly models the dependencies between a set of continuous variables and nonlinear constraints, providing an expressive formulation for relevant robotics problems such as manipulation planning…

Recent years have witnessed an emerging paradigm shift toward embodied artificial intelligence, in which an agent must learn to solve challenging tasks by interacting with its environment. There are several challenges in solving embodied…

Neurosymbolic (NeSy) AI studies the integration of neural networks (NNs) and symbolic reasoning based on logic. Usually, NeSy techniques focus on learning the neural, probabilistic and/or fuzzy parameters of NeSy models. Learning the…

Deep learning models such as CNNs have surpassed human performance in computer vision tasks such as image classification. However, despite their sophistication, these models lack interpretability which can lead to biased outcomes reflecting…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

Long-horizon decision-making with sparse rewards and continuous states and actions remains a fundamental challenge in AI and robotics. Task and motion planning (TAMP) is a model-based framework that addresses this challenge by planning…

In this paper, we propose a learning algorithm that speeds up the search in task and motion planning problems. Our algorithm proposes solutions to three different challenges that arise in learning to improve planning efficiency: what to…

This paper analyzes the learnability of neuro-symbolic (NeSy) tasks within hybrid systems. We show that the learnability of NeSy tasks can be characterized by their derived constraint satisfaction problems (DCSPs). Specifically, a task is…