The paper introduces a new paradigm called VLM-as-probabilistic-grounder, which models the uncertainty of Vision‑Language Model (VLM) predicate groundings as a probability distribution over symbolic states. This probabilistic grounding allows belief‑space planning, producing more robust plans in partially observable settings. Experiments in simulated household robot environments demonstrate that this approach improves robustness and task success compared to deterministic grounding methods.
By Guy Azran, Michael Navat, Sarah Keren
In partially observable settings, agents must act without full knowledge of the world state and rely on uncertain state-estimation pipelines. Obtaining grounded and verifiable symbolic plans under suc...
arXiv:2606. 19729v2 Announce Type: replace-cross Abstract: Planning under uncertainty is an essential capability for autonomous robots.
By Marcus Hoerger, Rishikesh Joshi, Rahul Shome, Ian Manchester, Hanna Kurniawati
arXiv:2606. 19729v1 Announce Type: cross Abstract: Planning under uncertainty is an essential capability for autonomous robots.
By Marcus Hoerger, Rishikesh Joshi, Rahul Shome, Ian Manchester, Hanna Kurniawati
The paper introduces OHCAM, an online method for learning action models that include conditional and quantified effects from limited interactions. It maintains a belief over possible models and actively chooses actions that maximize disagreement among hypotheses to reduce uncertainty, while handling noisy observations. Starting with simple hypotheses, OHCAM expands complexity only when necessary, achieving sample‑efficient learning that outperforms baselines on benchmark domains and is validated on a Kinova Gen3 robot.
By Jeffrey Jewett, William Solow, Sandhya Saisubramanian
arXiv:2609.37519v1 Announce Type: cross
Abstract: Video-based policy learning is particularly promising, as it illustrates target behaviors without requiring action annotations or embodiment-matched...
By Merve Atasever, Keyan Azbijari, Cagan Bakirci, Bo-Ruei Huang, Tolga Izdas, Zahra Shahrooei, Richard Yang, Erdem Biyik, Jyotirmoy V. Deshmukh