Author

O. Heimann

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Preprint Sep 2026

Towards Neuro-Symbolic Procedural Reasoning for Long-Horizon Vision-Language-Action Manipulation

Vision-language-action (VLA) models can execute short manipulation skills, but remain brittle in long-horizon procedures requiring persistent task state, dependency-aware reasoning, conditional decisions, and reliable grounding. We investigate a neuro-symbolic framework that combines learned VLA control with explicit t...

Vivek Chavan, Ya-Huan Shi, O. Heimann et al. · 0 citations

#artificial intelligence Preprint Sep 2026

What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies

Visuomotor imitation policies can achieve high performance under in-distribution visual conditions yet fail when visually similar objects or receptacles are introduced. We study this behavior as a problem of conditional visual grounding: the visual target required for successful control changes with the manipulation ph...

Vivek Chavan, Peng-Tao Xie, Ya-Huan Shi et al. · 0 citations