# NeSyC: A Neuro-symbolic Continual Learner For Complex Embodied Tasks In Open Domains

arXiv: https://arxiv.org/abs/2503.00870 · HTML: https://mlsanity.com/paper/2503.00870/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- Builds on 46 of its 58 references that are in the map.
- First posted on arXiv 2 Mar 2025.

## Builds on (most cited first, 30 of 46)

- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [Reasoning with Language Model is Planning with World Model](https://mlsanity.com/paper/2305.14992/) (2023)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [TravelPlanner: A Benchmark for Real-World Planning with Language Agents](https://mlsanity.com/paper/2402.01622/) (2024)
- [Logic-LM: Empowering Large Language Models with Symbolic Solvers for Faithful Logical Reasoning](https://mlsanity.com/paper/2305.12295/) (2023)
- [Scaling Open-Vocabulary Object Detection](https://mlsanity.com/paper/2306.09683/) (2023)
- [Language to Rewards for Robotic Skill Synthesis](https://mlsanity.com/paper/2306.08647/) (2023)
- [TextWorld: A Learning Environment for Text-based Games](https://mlsanity.com/paper/1806.11532/) (2018)
- [Large Language Models as Commonsense Knowledge for Large-Scale Task Planning](https://mlsanity.com/paper/2305.14078/) (2023)
- [Contextual Markov Decision Processes](https://mlsanity.com/paper/1502.02259/) (2015)
- [LINC: A Neurosymbolic Approach for Logical Reasoning by Combining Language Models with First-Order Logic Provers](https://mlsanity.com/paper/2310.15164/) (2023)
- [BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments](https://mlsanity.com/paper/2108.03332/) (2021)
- [Multi-shot ASP solving with clingo](https://mlsanity.com/paper/1705.09811/) (2017)
- [Faithful Logical Reasoning via Symbolic Chain-of-Thought](https://mlsanity.com/paper/2405.18357/) (2024)
- [Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study](https://mlsanity.com/paper/1404.3785/) (2014)
- [Large Language Models as Generalizable Policies for Embodied Tasks](https://mlsanity.com/paper/2310.17722/) (2023)

## Built on by (most cited first, 15 of 15)

- [A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI](https://mlsanity.com/paper/2505.01458/) (2025)
- [RoboMemory: A Brain-inspired Multi-memory Agentic Framework for Interactive Environmental Learning in Physical Embodied Systems](https://mlsanity.com/paper/2508.01415/) (2025)
- [Towards Reliable Code-as-Policies: A Neuro-Symbolic Framework for Embodied Task Planning](https://mlsanity.com/paper/2510.21302/) (2025)
- [Neural Brain: A Neuroscience-inspired Framework for Embodied Agents](https://mlsanity.com/paper/2505.07634/) (2025)
- [NeSyPr: Neurosymbolic Proceduralization For Efficient Embodied Reasoning](https://mlsanity.com/paper/2510.19429/) (2025)
- [Policy Compatible Skill Incremental Learning via Lazy Learning Interface](https://mlsanity.com/paper/2509.20612/) (2025)
- [RPMS: Enhancing LLM-Based Embodied Planning through Rule-Augmented Memory Synergy](https://mlsanity.com/paper/2603.17831/) (2026)
- [NaturalGAIA: A Verifiable Benchmark and Hierarchical Framework for Long-Horizon GUI Tasks](https://mlsanity.com/paper/2508.01330/) (2025)
- [Neuro-Symbolic AI for Cybersecurity: State of the Art, Challenges, and Opportunities](https://mlsanity.com/paper/2509.06921/) (2025)
- [Aligning Progress and Feasibility: A Neuro-Symbolic Dual Memory Framework for Long-Horizon LLM Agents](https://mlsanity.com/paper/2604.02734/) (2026)
- [Shaping Schema via Language Representation as the Next Frontier for LLM Intelligence Expanding](https://mlsanity.com/paper/2605.09271/) (2026)
- [Cross-Domain Demo-to-Code via Neurosymbolic Counterfactual Reasoning](https://mlsanity.com/paper/2603.18495/) (2026)
- [Improving Temporal Action Segmentation via Constraint-Aware Decoding](https://mlsanity.com/paper/2605.10149/) (2026)
- [Functional Cache Grafting: Robust and Rapid Code-Policy Synthesis for Embodied Agents](https://mlsanity.com/paper/2606.13097/) (2026)
- [SCOPE: Evolving Symbolic World for Planning in Open-Ended Environments](https://mlsanity.com/paper/2606.22488/) (2026)

## Abstract (arXiv)

We explore neuro-symbolic approaches to generalize actionable knowledge, enabling embodied agents to tackle complex tasks more effectively in open-domain environments. A key challenge for embodied agents is the generalization of knowledge across diverse environments and situations, as limited experiences often confine them to their prior knowledge. To address this issue, we introduce a novel framework, NeSyC, a neuro-symbolic continual learner that emulates the hypothetico-deductive model by continually formulating and validating knowledge from limited experiences through the combined use of Large Language Models (LLMs) and symbolic tools. Specifically, we devise a contrastive generality improvement scheme within NeSyC, which iteratively generates hypotheses using LLMs and conducts contrastive validation via symbolic tools. This scheme reinforces the justification for admissible actions while minimizing the inference of inadmissible ones. Additionally, we incorporate a memory-based monitoring scheme that efficiently detects action errors and triggers the knowledge refinement process across domains. Experiments conducted on diverse embodied task benchmarks-including ALFWorld, VirtualHome, Minecraft, RLBench, and a real-world robotic scenario-demonstrate that NeSyC is highly effective in solving complex embodied tasks across a range of open-domain environments.