4 papers · 1 filter
RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning
Jinbang Huang, Yuanzhao Hu, Zhiyuan Li +6
Long-horizon robotic tasks require a breadth of capabilities beyond what any single existing robot control policy can reliably provide. Combining heterogeneous policies with comple…
Abductive Reasoning with Probabilistic Commonsense
Joseph Cotnareanu, Chiara Roverato, Han Zhou +3
Recent efforts to improve the reasoning abilities of Large Language Models (LLMs) have focused on integrating formal logic solvers within neurosymbolic frameworks. A key challenge…
H-WM: Robotic Task and Motion Planning Guided by Hierarchical World Model
Jinbang Huang, Wenyuan Chen, Zhiyuan Li +9
World models are becoming central to robotic planning and control by predicting future state transitions. Existing approaches mainly rely on visual, latent, or language prediction,…
A Balanced Neuro-Symbolic Approach for Commonsense Abductive Logic
Joseph Cotnareanu, Didier Chetelat, Yingxue Zhang +1
Although Large Language Models (LLMs) have demonstrated impressive formal reasoning abilities, they often break down when problems require complex proof planning. One promising app…