{"id":"https://openalex.org/W7151377053","doi":"https://doi.org/10.48550/arxiv.2604.03759","title":"Build on Priors: Vision--Language--Guided Neuro-Symbolic Imitation Learning for Data-Efficient Real-World Robot Manipulation","display_name":"Build on Priors: Vision--Language--Guided Neuro-Symbolic Imitation Learning for Data-Efficient Real-World Robot Manipulation","publication_year":2026,"publication_date":"2026-04-04","ids":{"openalex":"https://openalex.org/W7151377053","doi":"https://doi.org/10.48550/arxiv.2604.03759"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.03759","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.03759","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.03759","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133075208","display_name":"Pierrick Lorang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lorang, Pierrick","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067057927","display_name":"Johannes Huemer","orcid":"https://orcid.org/0000-0001-7620-7663"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huemer, Johannes","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085692066","display_name":"Timothy R. Duggan","orcid":"https://orcid.org/0009-0007-6955-2961"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duggan, Timothy","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071518289","display_name":"Kai Goebel","orcid":"https://orcid.org/0000-0002-0240-0943"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Goebel, Kai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050311128","display_name":"Patrik Zips","orcid":"https://orcid.org/0000-0001-7846-1753"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zips, Patrik","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5044523801","display_name":"Matthias Scheutz","orcid":"https://orcid.org/0000-0002-0064-2789"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Scheutz, Matthias","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5133075208"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5837000012397766,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5837000012397766,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.17219999432563782,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.07580000162124634,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5824999809265137},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5544000267982483},{"id":"https://openalex.org/keywords/oracle","display_name":"Oracle","score":0.5163000226020813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49889999628067017},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.45570001006126404},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4415999948978424},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4413999915122986},{"id":"https://openalex.org/keywords/automated-planning-and-scheduling","display_name":"Automated planning and scheduling","score":0.42730000615119934},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.4239000082015991},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.42170000076293945}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7883999943733215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5871000289916992},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5824999809265137},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5544000267982483},{"id":"https://openalex.org/C55166926","wikidata":"https://www.wikidata.org/wiki/Q2892946","display_name":"Oracle","level":2,"score":0.5163000226020813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49889999628067017},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.45570001006126404},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4415999948978424},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.42730000615119934},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.4239000082015991},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.42170000076293945},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4187000095844269},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.37950000166893005},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.36230000853538513},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3506999909877777},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.3472000062465668},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34139999747276306},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3337000012397766},{"id":"https://openalex.org/C164155591","wikidata":"https://www.wikidata.org/wiki/Q2067766","display_name":"Satisfiability modulo theories","level":2,"score":0.32919999957084656},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3050999939441681},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29899999499320984},{"id":"https://openalex.org/C16311509","wikidata":"https://www.wikidata.org/wiki/Q4148050","display_name":"Dependency graph","level":3,"score":0.2937000095844269},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2831999957561493},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28200000524520874},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.2694999873638153},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.2694999873638153},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.03759","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.03759","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.03759","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.03759","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Enabling":[0],"robots":[1],"to":[2,61,83,108,119],"learn":[3],"long-horizon":[4],"manipulation":[5,204],"tasks":[6],"from":[7,56],"a":[8,13,42,79,95,110,152,170,197,211,234,238],"handful":[9],"of":[10,94],"demonstrations":[11,74],"remains":[12],"central":[14],"challenge":[15],"in":[16,176],"robotics.":[17,248],"Existing":[18],"neuro-symbolic":[19,44,247],"approaches":[20],"often":[21],"rely":[22],"on":[23,196,210],"hand-crafted":[24],"symbolic":[25,49],"abstractions,":[26],"semantically":[27],"labeled":[28],"trajectories":[29],"or":[30],"large":[31],"demonstration":[32,172],"datasets,":[33],"limiting":[34],"their":[35],"scalability":[36],"and":[37,52,77,86,124,128,154,185,206,229,245],"real-world":[38,165],"applicability.":[39],"We":[40,191],"present":[41],"scalable":[43],"framework":[45,194],"that":[46,223],"autonomously":[47],"constructs":[48],"planning":[50,112,231],"domains":[51],"data-efficient":[53],"control":[54,140,225],"policies":[55],"as":[57,59],"few":[58],"one":[60],"thirty":[62],"unannotated":[63],"skill":[64,133],"demonstrations,":[65],"without":[66],"requiring":[67],"manual":[68],"domain":[69],"engineering.":[70],"Our":[71,220],"method":[72],"segments":[73],"into":[75,233],"skills":[76,85],"employs":[78],"Vision-Language":[80],"Model":[81],"(VLM)":[82],"classify":[84],"identify":[87],"equivalent":[88],"high-level":[89],"states,":[90],"enabling":[91],"automatic":[92],"construction":[93,183],"state-transition":[96],"graph.":[97],"This":[98],"graph":[99,182],"is":[100],"processed":[101],"by":[102,168],"an":[103,115],"Answer":[104],"Set":[105],"Programming":[106],"solver":[107],"synthesize":[109],"PDDL":[111],"domain,":[113],"which":[114],"oracle":[116],"function":[117],"exploits":[118],"isolate":[120],"the":[121,139,146,177,181,186],"minimal,":[122],"task-relevant":[123],"target":[125],"relative":[126],"observation":[127],"action":[129],"spaces":[130],"for":[131,164,188],"each":[132],"policy.":[134],"Policies":[135],"are":[136],"learned":[137],"at":[138,145],"reference":[141],"level":[142],"rather":[143],"than":[144],"raw":[147],"actuator":[148],"signal":[149],"level,":[150],"yielding":[151],"smoother":[153],"less":[155],"noisy":[156],"learning":[157],"target.":[158],"Known":[159],"controllers":[160],"can":[161],"be":[162],"leveraged":[163],"data":[166],"augmentation":[167],"projecting":[169],"single":[171],"onto":[173],"other":[174],"objects":[175],"scene,":[178],"simultaneously":[179],"enriching":[180],"process":[184],"dataset":[187],"imitation":[189],"learning.":[190],"validate":[192],"our":[193],"primarily":[195],"real":[198],"industrial":[199],"forklift":[200],"across":[201,216],"statistically":[202],"rigorous":[203],"trials,":[205],"demonstrate":[207],"cross-platform":[208],"generality":[209],"Kinova":[212],"Gen3":[213],"robotic":[214],"arm":[215],"two":[217],"standard":[218],"benchmarks.":[219],"results":[221],"show":[222],"grounding":[224],"learning,":[226],"VLM-driven":[227],"abstraction,":[228],"automated":[230],"synthesis":[232],"unified":[235],"pipeline":[236],"constitutes":[237],"practical":[239],"path":[240],"toward":[241],"scalable,":[242],"data-efficient,":[243],"expert-free":[244],"interpretable":[246]},"counts_by_year":[],"updated_date":"2026-04-08T06:07:18.267832","created_date":"2026-04-08T00:00:00"}