arxivcs.RO2026-06-30
Plan Right, Then Plan Tight: Symbolic RL for Efficient Embodied Reasoning
Xiangli Shi, Xiaomeng Zhu, Ye Tian, Yuchun Guo, Ziyang Sun, Lujie Yin, et al.
Embodied task planning asks an agent to turn a natural-language instruction into an executable sequence of actions in a physical scene, and is a building block for household, assistive, and service robots. Recent prompting-based and reinforcement-learning planners generate fluent…