信頼できる自律性のスケーリング：汎用で検証可能なロボットに向けて

原文アブストラクト

Robots powered by foundation models are increasingly able to interpret open-ended language, recognize unfamiliar objects, and operate across diverse environments. Yet broader capability does not establish that a robot has understood a request, that its actions will produce the intended effects, or that its internal representation still corresponds to reality. Classical symbolic planning provides explicit structure for composition and verification, but traditionally depends on hand-engineered skills and representations. Learned policies can broaden the robot's repertoire, but provide weak guarantees about what will happen and why. This thesis argues that scaling trusted autonomy requires a neurosymbolic approach that unifies the generality of learned models with symbolic structure for robust robot behavior. It explores three complementary directions. First, LIMP uses foundation models and spatial reasoning to ground natural-language instructions in explicit task constraints and instruction-specific semantic maps, enabling task-and-motion planning while exposing the robot's interpretation for inspection. Second, REALM maintains an editable, photorealistic 3D Gaussian scene, predicts the consequences of planned manipulation, and locally reconciles the scene so that subsequent instructions obtain their grounding and planning geometry from an updated state. Third, PACTS learns visuomotor skills that jointly generate action trajectories and predictions of their symbolic effects, supporting skill composition, progress monitoring, and recovery through replanning. Together, these contributions preserve explicit structure for reasoning and verification while broadening how it is obtained, providing a foundation for generally capable robots whose behavior can be assessed under the assumptions of their models.