Joint Discovery of Object and Action Symbols through Effect Prediction for Robotic Manipulation Planning

arXiv:2607.00031v1 Announce Type: new Abstract: To perform complex manipulation planning, autonomous robots are required to abstract continuous, high-dimensional sensorimotor interactions into discrete object and action representations. Earlier work either categorized objects based on visual appearances, which fails to distinguish objects that appear similar but behave differently, or based on effects under interaction, but was limited to predefined actions. To address these limitations, we prop...