Imperative learning: A self-supervised neuro-symbolic learning framework for robot autonomy

Chen Wang, Kaiyi Ji, Junyi Geng, Zhongqiang Ren, Taimeng Fu, Fan Yang, Yifan Guo, Haonan He, Xiangyu Chen, Zitong Zhan, Qiwei Du, Shaoshu Su, Bowen Li, Yuheng Qiu, Yi Du, Qihang Li, Yifan Yang, Xiao Lin, Zhipeng Zhao, Department of Computer Science and Engineering, University at Buffalo, Deparment of Aerospace Engineering, Pennsylvania State University, State College, Robotics Institute, Carnegie Mellon University, Institute of Robotics and Intelligent Systems, ETH Zürich, School of Mechanical Engineering, Purdue University, West Lafayette

The International Journal of Robotics Research

Published online on August 05, 2025

Abstract

The International Journal of Robotics Research, Ahead of Print.
Data-driven methods such as reinforcement and imitation learning have achieved remarkable success in robot autonomy. However, their data-centric nature still hinders them from generalizing well to ever-changing environments. Moreover, labeling data for ...