SYMBOLIZER grounds symbolic states from images via VLMs using only lifted predicates and solves long-horizon tasks with goal-count and width-based heuristic search, outperforming direct VLM planning and matching VLM-heuristic baselines on ProDG and ViPlan benchmarks.
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SYMBOLIZER: Symbolic Model-free Task Planning with VLMs
SYMBOLIZER grounds symbolic states from images via VLMs using only lifted predicates and solves long-horizon tasks with goal-count and width-based heuristic search, outperforming direct VLM planning and matching VLM-heuristic baselines on ProDG and ViPlan benchmarks.