{"paper":{"title":"Achieving Scalable Robot Autonomy via neurosymbolic planning using lightweight local LLM","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.LG","cs.RO"],"primary_cat":"cs.AI","authors_text":"Alessio Capitanelli, Fulvio Mastrogiovanni, Nicholas Attolino","submitted_at":"2025-05-13T12:22:38Z","abstract_excerpt":"PDDL-based symbolic task planning remains pivotal for robot autonomy yet struggles with dynamic human-robot collaboration due to scalability, re-planning demands, and delayed plan availability. Although a few neurosymbolic frameworks have previously leveraged LLMs such as GPT-3 to address these challenges, reliance on closed-source, remote models with limited context introduced critical constraints: third-party dependency, inconsistent response times, restricted plan length and complexity, and multi-domain scalability issues. We present Gideon, a novel framework that enables the transition to "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.08492","kind":"arxiv","version":2},"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/2505.08492/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"}