8 papers
Build on Priors: Vision--Language--Guided Neuro-Symbolic Imitation Learning for Data-Efficient Real-World Robot Manipulation
Pierrick Lorang, Johannes Huemer, Timothy Duggan +3
Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on…
Novelty Adaptation Through Hybrid Large Language Model (LLM)-Symbolic Planning and LLM-guided Reinforcement Learning
Hong Lu, Pierrick Lorang, Timothy R. Duggan +2
In dynamic open-world environments, autonomous agents often encounter novelties that hinder their ability to find plans to achieve their goals. Specifically, traditional symbolic p…
The Price Is Not Right: Neuro-Symbolic Methods Outperform VLAs on Structured Long-Horizon Manipulation Tasks with Significantly Lower Energy Consumption
Timothy Duggan, Pierrick Lorang, Hong Lu +1
Vision-Language-Action (VLA) models have recently been proposed as a pathway toward generalist robotic policies capable of interpreting natural language and visual inputs to genera…
Noise Injection Systemically Degrades Large Language Model Safety Guardrails
Prithviraj Singh Shahani, Kaveh Eskandari Miandoab, Matthias Scheutz
Safety guardrails in large language models (LLMs) are a critical component in preventing harmful outputs. Yet, their resilience under perturbation remains poorly understood. In thi…
Few-Shot Neuro-Symbolic Imitation Learning for Long-Horizon Planning and Acting
Pierrick Lorang, Hong Lu, Johannes Huemer +2
Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large d…
FLEX: A Framework for Learning Robot-Agnostic Force-based Skills Involving Sustained Contact Object Manipulation
Shijie Fang, Wenchang Gao, Shivam Goel +3
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significa…