NSP: A Neuro-Symbolic Natural Language Navigational Planner

• URL: http://arxiv.org/abs/2409.06859v2
• Date: Fri, 13 Sep 2024 22:13:01 GMT
• Title: NSP: A Neuro-Symbolic Natural Language Navigational Planner
• Authors: William English, Dominic Simon, Sumit Jha, Rickard Ewetz,
• Abstract summary: We propose a neuro-symbolic framework for path planning from natural language inputs called NSP. We evaluate our neuro-symbolic approach using a benchmark suite with 1500 path-planning problems.
• Score: 6.841829967944275
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Path planners that can interpret free-form natural language instructions hold promise to automate a wide range of robotics applications. These planners simplify user interactions and enable intuitive control over complex semi-autonomous systems. While existing symbolic approaches offer guarantees on the correctness and efficiency, they struggle to parse free-form natural language inputs. Conversely, neural approaches based on pre-trained Large Language Models (LLMs) can manage natural language inputs but lack performance guarantees. In this paper, we propose a neuro-symbolic framework for path planning from natural language inputs called NSP. The framework leverages the neural reasoning abilities of LLMs to i) craft symbolic representations of the environment and ii) a symbolic path planning algorithm. Next, a solution to the path planning problem is obtained by executing the algorithm on the environment representation. The framework uses a feedback loop from the symbolic execution environment to the neural generation process to self-correct syntax errors and satisfy execution time constraints. We evaluate our neuro-symbolic approach using a benchmark suite with 1500 path-planning problems. The experimental evaluation shows that our neuro-symbolic approach produces 90.1% valid paths that are on average 19-77% shorter than state-of-the-art neural approaches.

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