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

Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain…

We address one-shot imitation learning, where the goal is to execute a previously unseen task based on a single demonstration. While there has been exciting progress in this direction, most of the approaches still require a few hundred…

Context-aware Human Activity Recognition (HAR) is a hot research area in mobile computing, and the most effective solutions in the literature are based on supervised deep learning models. However, the actual deployment of these systems is…

Recent learning-to-plan methods have shown promising results on planning directly from observation space. Yet, their ability to plan for long-horizon tasks is limited by the accuracy of the prediction model. On the other hand, classical…

Many machine learning strategies designed to automate mathematical tasks leverage neural networks to search large combinatorial spaces of mathematical symbols. In contrast to traditional evolutionary approaches, using a neural network at…

We present a simple and intuitive Focus-and-eXpand (\fax) method to guide the training process of a neural network towards a specific solution. Optimizing a neural network is a highly non-convex problem. Typically, the space of solutions is…

Symbolic task planning for robots is computationally challenging due to the combinatorial complexity of the possible action space. This fact is amplified if there are several sub-goals to be achieved due to the increased length of the…

Mobile manipulation problems involving many objects are challenging to solve due to the high dimensionality and multi-modality of their hybrid configuration spaces. Planners that perform a purely geometric search are prohibitively slow for…

We propose the Neural Logic Machine (NLM), a neural-symbolic architecture for both inductive learning and logic reasoning. NLMs exploit the power of both neural networks---as function approximators, and logic programming---as a symbolic…

We present a neuro-symbolic (NeSy) workflow combining a symbolic-based learning technique with a large language model (LLM) agent to generate synthetic data for code comment classification in the C programming language. We also show how…

Sequential problems are ubiquitous in AI, such as in reinforcement learning or natural language processing. State-of-the-art deep sequential models, like transformers, excel in these settings but fail to guarantee the satisfaction of…

Procedural planning aims to implement complex high-level goals by decomposition into sequential simpler low-level steps. Although procedural planning is a basic skill set for humans in daily life, it remains a challenge for large language…

Reinforcement learning (RL) faces substantial challenges when applied to real-life problems, primarily stemming from the scarcity of available data due to limited interactions with the environment. This limitation is exacerbated by the fact…

We train an agent to navigate in 3D environments using a hierarchical strategy including a high-level graph based planner and a local policy. Our main contribution is a data driven learning based approach for planning under uncertainty in…

Neural networks excel at pattern recognition but struggle with constraint reasoning -- determining whether configurations satisfy logical or physical constraints. We introduce Differentiable Symbolic Planning (DSP), a neural architecture…

While Large Language Models (LLMs) have catalyzed progress in embodied intelligence, a fundamental gap between their inherent probabilistic uncertainty and the strict determinism and verifiable safety required in the physical world. To…

Compact symbolic expressions have been shown to be more efficient than neural network models in terms of resource consumption and inference speed when implemented on custom hardware such as FPGAs, while maintaining comparable…

A key objective in the field of artificial intelligence is to develop cognitive models that can exhibit human-like intellectual capabilities. One promising approach to achieving this is through neural-symbolic systems, which combine the…

Multi-task learning is frequently used to model a set of related response variables from the same set of features, improving predictive performance and modeling accuracy relative to methods that handle each response variable separately.…

Neural-symbolic AI (NeSy) allows neural networks to exploit symbolic background knowledge in the form of logic. It has been shown to aid learning in the limited data regime and to facilitate inference on out-of-distribution data.…