PACTS at IROS 2026: Joint Action-Predicate Modeling Enables Zero-Shot Robot Skill Composition
joemeno · x · 2026-09-28
Brown University and RAI researchers will present PACTS at IROS 2026, a class of closed-loop visuomotor policies that jointly model action trajectories and predicate-belief trajectories as a coupled generative process. Jointly generating actions and symbolic outcomes improves both action generation and predicate classification, and the online predicate predictions serve as a symbolic interface for planning — enabling zero-shot composition of learned robot skills without retraining.
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