Due to their ability of follow natural language instructions, vision-language-action (VLA) models are increasingly preva- lent in the embodied AI arena, following the widespread suc- cess of their precursors—LLMs and VLMs. In this paper, we discuss 10 principal milestones in the ongoing develop- ment of VLA models—multimodality, reasoning, data, eval- uation, cross-robkot action generalization, efficiency, whole- body coordination, safety, agents, and coordination with hu- mans. Furthermore, we discuss the emerging trends of us- ing spatial understanding, modeling world dynamics, post training, and data synthesis—all aiming to reach these mile- stones. Through these discussions, we hope to bring attention to the research avenues that may accelerate the development of VLA models into wider acceptability.

In recent years, AI research has demonstrated enormous potential for the benefit of humanity and society. While often better than its human counterparts in classification and pattern recognition tasks, however, AI still struggles with complex tasks that require commonsense reasoning such as natural language understanding. In this context, the key limitations of current AI models are: dependency, reproducibility, trustworthiness, interpretability, and explainability. In this work, we propose a commonsense-based neurosymbolic framework that aims to overcome these issues in the context of sentiment analysis. In particular, we employ unsupervised and reproducible subsymbolic techniques such as auto-regressive language models and kernel methods to build trustworthy symbolic representations that convert natural language to a sort of protolanguage and, hence, extract polarity from text in a completely interpretable and explainable manner.

Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is a need for robots to maintain a model of its surroundings even when objects go out of view and are no longer visible. This requires anchoring perceptual information onto symbols that represent the objects in the environment. In this paper, we present a model for action-aware perceptual anchoring that enables robots to track objects in a persistent manner. Our rule-based approach considers inductive biases to perform high-level reasoning over the results from low-level object detection, and it improves the robot’s perceptual capability for complex tasks. We evaluate our model against existing baseline models for object permanence and show that it outperforms these on a snitch localisation task using a dataset of 1,371 videos. We also integrate our action-aware perceptual anchoring in the context of a cognitive architecture and demonstrate its benefits in a realistic gearbox assembly task on a Universal Robot.

Object permanence in psychology means knowing that objects still exist even if they are no longer visible. It is a crucial concept for robots to operate autonomously in uncontrolled environments. Existing approaches learn object permanence from low-level perception, but perform poorly on more complex scenarios, like when objects are contained and carried by others. Knowledge about manipulation actions performed on an object prior to its disappearance allows us to reason about its location, e.g., that the object has been placed in a carrier. In this paper we argue that object permanence can be improved when the robot uses knowledge about executed actions and describe an approach to infer hidden object states from agent actions. We show that considering agent actions not only improves rule-based reasoning models but also purely neural approaches, showing its general applicability. Then, we conduct quantitative experiments on a snitch localization task using a dataset of 1,371 synthesized videos, where we compare the performance of different object permanence models with and without action annotations. We demonstrate that models with action annotations can significantly increase performance of both neural and rule-based approaches. Finally, we evaluate the usability of our approach in real-world applications by conducting qualitative experiments with two Universal Robots (UR5 and UR16e) in both lab and industrial settings. The robots complete benchmark tasks for a gearbox assembly and demonstrate the object permanence capabilities with real sensor data in an industrial environment.

Deep learning has unlocked new paths towards the emulation of the peculiarly-human capability of learning from examples. While this kind of bottom-up learning works well for tasks such as image classification or object detection, it is not as effective when it comes to natural language processing. Communication is much more than learning a sequence of letters and words: it requires a basic understanding of the world and social norms, cultural awareness, commonsense knowledge, etc.; all things that we mostly learn in a top-down manner. In this work, we integrate top-down and bottom-up learning via an ensemble of symbolic and subsymbolic AI tools, which we apply to the interesting problem of polarity detection from text. In particular, we integrate logical reasoning within deep learning architectures to build a new version of SenticNet, a commonsense knowledge base for sentiment analysis.

We propose a new neural transfer method termed Dual Adversarial Transfer Network (DATNet) for addressing low-resource Named Entity Recognition (NER).Specifically, two variants of DATNet, i.e., DATNet-F and DATNet-P, are investigated to explore effective feature fusion between high and low resource.To address the noisy and imbalanced training data, we propose a novel Generalized Resource-Adversarial Discriminator (GRAD).Additionally, adversarial training is adopted to boost model generalization.In experiments, we examine the effects of different components in DATNet across domains and languages, and show that significant improvement can be obtained especially for lowresource data, without augmenting any additional hand-crafted features and pre-trained language model.

With the recent development of deep learning, research in AI has gained new vigor and prominence. While machine learning has succeeded in revitalizing many research fields, such as computer vision, speech recognition, and medical diagnosis, we are yet to witness impressive progress in natural language understanding. One of the reasons behind this unmatched expectation is that, while a bottom-up approach is feasible for pattern recognition, reasoning and understanding often require a top-down approach. In this work, we couple sub-symbolic and symbolic AI to automatically discover conceptual primitives from text and link them to commonsense concepts and named entities in a new three-level knowledge representation for sentiment analysis. In particular, we employ recurrent neural networks to infer primitives by lexical substitution and use them for grounding common and commonsense knowledge by means of multi-dimensional scaling.

An important difference between traditional AI systems and human intelligence is our ability to harness common sense knowledge gleaned from a lifetime of learning and experiences to inform our decision making and behavior. This allows humans to adapt easily to novel situations where AI fails catastrophically for lack of situation-specific rules and generalization capabilities. Common sense knowledge also provides the background knowledge for humans to successfully operate in social situations where such knowledge is typically assumed. In order for machines to exploit common sense knowledge in reasoning as humans do, moreover, we need to endow them with human-like reasoning strategies. In this work, we propose a two-level affective reasoning framework that concurrently employs multi-dimensionality reduction and graph mining techniques to mimic the integration of conscious and unconscious reasoning, and exploit it for sentiment analysis.