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VL-Nav: Neuro-Symbolic Reasoning-based Vision-Language Navigation
Yi Du, Taimeng Fu, Zhipeng Zhao +6
Navigating unseen, large-scale environments based on complex and abstract human instructions remains a formidable challenge for autonomous mobile robots. Addressing this requires r…
Neuro-Symbolic Learning for Long-Horizon Task Planning Under Complex Logical Constraints
Qiwei Du, Zitong Zhan, Shaoshu Su +7
Task planning often suffers from severe efficiency bottlenecks when robots must reason over long-horizon action sequences under complex logical constraints, including object afford…
Fast Task Planning with Neuro-Symbolic Relaxation
Qiwei Du, Bowen Li, Yi Du +5
Real-world task planning requires long-horizon reasoning over large sets of objects with complex relationships and attributes, leading to a combinatorial explosion for classical sy…
Bilevel Learning for Bilevel Planning
Bowen Li, Tom Silver, Sebastian Scherer +1
A robot that learns from demonstrations should not just imitate what it sees -- it should understand the high-level concepts that are being demonstrated and generalize them to new…
PhysORD: A Neuro-Symbolic Approach for Physics-infused Motion Prediction in Off-road Driving
Zhipeng Zhao, Bowen Li, Yi Du +2
Motion prediction is critical for autonomous off-road driving, however, it presents significantly more challenges than on-road driving because of the complex interaction between th…