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Towards Neuro-Symbolic Procedural Reasoning for Long-Horizon Vision-Language-Action Manipulation

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

Vision-language-action (VLA) models can execute short manipulation skills, but remain brittle in long-horizon procedures requiring persistent task state, dependency-aware reasoning, conditional decisions, and reliable grounding. We investigate a neuro-symbolic framework that combines learned VLA control with explicit task graphs and multimodal procedural memory. Task graphs encode action dependencies, valid transitions, and branch conditions, while memory maintains the active step, completed actions, textual context, and task-relevant visual evidence. Together, these structures guide object se

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