Pith Number

pith:PI4W7UVI

pith:2025:PI4W7UVIGG2WJSJSUAECUA7XFM

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SkillWrapper: Generative Predicate Invention for Task-level Robot Planning

Ahmed Jaafar, Benned Hedegaard, David Paulius, George Konidaris, Haotian Fu, Naman Shah, Shreyas S. Raman, Skye Thompson, Stefanie Tellex, Yichen Wei, Ziyi Yang

A formal theory of generative predicate invention produces symbolic operators for provably sound and complete robot task planning from RGB images.

arxiv:2511.18203 v7 · 2025-11-22 · cs.RO

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

We address both questions by presenting a formal theory of generative predicate invention for skill abstraction, resulting in symbolic operators that can be used for provably sound and complete planning.

C2weakest assumption

The predicates generated by the foundation model satisfy the formal properties (e.g., completeness and soundness conditions) required by the theory, and these properties transfer from simulation or collected data to real-robot execution with black-box skills.

C3one line summary

SkillWrapper learns human-interpretable symbolic representations of robot skills from images via foundation models, yielding operators for provably sound and complete planning on long-horizon tasks.

Cited by

1 paper in Pith

Learning Bilevel Policies over Symbolic World Models for Long-Horizon Planning

Receipt and verification

First computed	2026-06-09T01:04:40.105954Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7a396fd2a831b564c932a0082a03f72b1e615b91fc13b5ba1442ca54d4c8808c

Aliases

arxiv: 2511.18203 · arxiv_version: 2511.18203v7 · doi: 10.48550/arxiv.2511.18203 · pith_short_12: PI4W7UVIGG2W · pith_short_16: PI4W7UVIGG2WJSJS · pith_short_8: PI4W7UVI

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/PI4W7UVIGG2WJSJSUAECUA7XFM \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 7a396fd2a831b564c932a0082a03f72b1e615b91fc13b5ba1442ca54d4c8808c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "290172da9820d651b1fe37d545f1edfc135ad73767ebb29241e2194fbb909c4f",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-11-22T22:25:11Z",
    "title_canon_sha256": "07da76e6280d55e94ac8e5f7018a366a725a3d925c7cecbf7046b33533e657a4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2511.18203",
    "kind": "arxiv",
    "version": 7
  }
}