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arXiv · 2511.04357

GraSP-VLA: Graph-based Symbolic Action Representation for Long-Horizon Planning with VLA Policies

Maëlic Neau·Zoe Falomir·Paulo E. Santos·Anne-Gwenn Bosser·Cédric Buche
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Abstract

Deploying autonomous robots that can learn new skills from demonstrations is an important challenge of modern robotics. Existing solutions often apply end-to-end imitation learning with Vision-Language Action (VLA) models or symbolic approaches with Action Model Learning (AML). On the one hand, current VLA models are limited by the lack of high-level symbolic planning, which hinders their abilities in long-horizon tasks. On the other hand, symbolic approaches in AML lack generalization and scalability perspectives. In this paper we present a new neuro-symbolic approach, GraSP-VLA, a framework that uses a Continuous Scene Graph representation to generate a symbolic representation of human demonstrations. This representation is used to generate new planning domains during inference and serves as an orchestrator for low-level VLA policies, scaling up the number of actions that can be reproduced in a row. Our results show that GraSP-VLA is effective for modeling symbolic representations on the task of automatic planning domain generation from observations. In addition, results on real-world experiments show the potential of our Continuous Scene Graph representation to orchestrate low-level VLA policies in long-horizon tasks.

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Maëlic Neau, Zoe Falomir, Paulo E. Santos, Anne-Gwenn Bosser, Cédric Buche. 2025-11-06. GraSP-VLA: Graph-based Symbolic Action Representation for Long-Horizon Planning with VLA Policies. https://arxiv.org/abs/2511.04357

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