{"paper":{"title":"Bridging Semantics and Physical Execution: A Neuro-Symbolic Framework for Multi-Pair Robotic Assembly","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aiguo Song, Huijun Li, Linhu Wei, Xinyi Li","submitted_at":"2026-06-09T12:53:25Z","abstract_excerpt":"Multi-pair robotic assembly in unstructured environments faces spatial interference and contact uncertainties. Existing paradigms fail to bridge cognitive decision-making and physical execution, as they either encounter state-space explosion and knowledge bottlenecks or suffer from logical hallucinations and topological conflicts. We propose an end-to-end neuro-symbolic framework that solves the challenge hierarchically: generating optimal subgraphs for each pair, decoupling generality from edge cases, and then resolving cross-pair interferences. Given an eye-on-hand RGB-D assembly scene, the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.10808","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.10808/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}