arXiv subjects

William English

Publications and source records attributed to William English.

5 recordsLinked to original sources

arXiv2026

Neuro-Symbolic Safety Guidance for Vision-Language-Action Models via Constrained Flow Matching

Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities across robotic manipulation tasks, yet their real-world deployment remains limited by the lack of effective safety measures. Specifically, existing safety measures only prevent collisions caused by the robot's next action. In this paper, we propose a neuro-symbolic safety guidance mechanism for flow matching based VLAs that enables predictive collision avoidance. Flow matching based VLAs determine the next actions by predicting a trajectory (a sequence of actions) through an iterative neural flow matching process. Our method formulates safety enforcement as a minimum-norm constrained optimization problem that corrects safety violations during the denoising process of noisy intermediate trajectory predictions. By analyzing predicted trajectories and applying corrections during iterative denoising, our approach anticipates collisions before they become unavoidable. This interleaving of symbolic constraint satisfaction with neural trajectory generation enables predictive collision avoidance rather than reactive intervention. On the SafeLIBERO benchmark, our method achieves 82.8% collision avoidance and 81.6% task success, a 6.3% and 19.8% improvement respectively over single-step methods, with the largest gains on long-horizon tasks where compounding distribution shift is most pronounced. Video demonstrations of our approach are included on our project page at https://willenglish.tech/SafetyGuidedFlowMatching/.

cs.RO↗

arXiv2025

GinSign: Grounding Natural Language Into System Signatures for Temporal Logic Translation

Natural language (NL) to temporal logic (TL) translation enables engineers to specify, verify, and enforce system behaviors without manually crafting formal specifications-an essential capability for building trustworthy autonomous systems. While existing NL-to-TL translation frameworks have demonstrated encouraging initial results, these systems either explicitly assume access to accurate atom grounding or suffer from low grounded translation accuracy. In this paper, we propose a framework for Grounding Natural Language Into System Signatures for Temporal Logic translation called GinSign. The framework introduces a grounding model that learns the abstract task of mapping NL spans onto a given system signature: given a lifted NL specification and a system signature $\mathcal{S}$, the classifier must assign each lifted atomic proposition to an element of the set of signature-defined atoms $\mathcal{P}$. We decompose the grounding task hierarchically -- first predicting predicate labels, then selecting the appropriately typed constant arguments. Decomposing this task from a free-form generation problem into a structured classification problem permits the use of smaller masked language models and eliminates the reliance on expensive LLMs. Experiments across multiple domains show that frameworks which omit grounding tend to produce syntactically correct lifted LTL that is semantically nonequivalent to grounded target expressions, whereas our framework supports downstream model checking and achieves grounded logical-equivalence scores of $95.5\%$, a $1.4\times$ improvement over SOTA.

cs.CL↗

arXiv2025

Grammar-Forced Translation of Natural Language to Temporal Logic using LLMs

Translating natural language (NL) into a formal language such as temporal logic (TL) is integral for human communication with robots and autonomous systems. State-of-the-art approaches decompose the task into a lifting of atomic propositions (APs) phase and a translation phase. However, existing methods struggle with accurate lifting, the existence of co-references, and learning from limited data. In this paper, we propose a framework for NL to TL translation called Grammar Forced Translation (GraFT). The framework is based on the observation that previous work solves both the lifting and translation steps by letting a language model iteratively predict tokens from its full vocabulary. In contrast, GraFT reduces the complexity of both tasks by restricting the set of valid output tokens from the full vocabulary to only a handful in each step. The solution space reduction is obtained by exploiting the unique properties of each problem. We also provide a theoretical justification for why the solution space reduction leads to more efficient learning. We evaluate the effectiveness of GraFT using the CW, GLTL, and Navi benchmarks. Compared with state-of-the-art translation approaches, it can be observed that GraFT the end-to-end translation accuracy by 5.49% and out-of-domain translation accuracy by 14.06% on average.

cs.CL↗

arXiv2024

NSP: A Neuro-Symbolic Natural Language Navigational Planner

Path planners that can interpret free-form natural language instructions hold promise to automate a wide range of robotics applications. These planners simplify user interactions and enable intuitive control over complex semi-autonomous systems. While existing symbolic approaches offer guarantees on the correctness and efficiency, they struggle to parse free-form natural language inputs. Conversely, neural approaches based on pre-trained Large Language Models (LLMs) can manage natural language inputs but lack performance guarantees. In this paper, we propose a neuro-symbolic framework for path planning from natural language inputs called NSP. The framework leverages the neural reasoning abilities of LLMs to i) craft symbolic representations of the environment and ii) a symbolic path planning algorithm. Next, a solution to the path planning problem is obtained by executing the algorithm on the environment representation. The framework uses a feedback loop from the symbolic execution environment to the neural generation process to self-correct syntax errors and satisfy execution time constraints. We evaluate our neuro-symbolic approach using a benchmark suite with 1500 path-planning problems. The experimental evaluation shows that our neuro-symbolic approach produces 90.1% valid paths that are on average 19-77% shorter than state-of-the-art neural approaches.

cs.AI↗

arXiv2016

Numerical modelling of the lobes of radio galaxies in cluster environments - III. Powerful relativistic and nonrelativistic jets

We present results from two suites of simulations of powerful radio galaxies in poor cluster environments, with a focus on the formation and evolution of the radio lobes. One suite of models uses relativistic hydrodynamics and the other relativistic magnetohydrodynamics; both are set up to cover a range of jet powers and velocities. The dynamics of the lobes are shown to be in good agreement with analytical models and with previous numerical models, confirming in the relativistic regime that the observed widths of radio lobes may be explained if they are driven by very light jets. The ratio of energy stored in the radio lobes to that put into the intracluster gas is seen to be the same regardless of jet power, jet velocity or simulation type, suggesting that we have a robust understanding of the work done on the ambient gas by this type of radio source. For the most powerful jets we at times find magnetic field amplification by up to a factor of two in energy, but mostly the magnetic energy in the lobes is consistent with the magnetic energy injected. We confirm our earlier result that for jets with a toroidally injected magnetic field, the field in the lobes is predominantly aligned with the jet axis once the lobes are well developed, and that this leads to radio flux anisotropies of up to a factor of about two for mature sources. We reproduce the relationship between 151-MHz luminosity and jet power determined analytically in the literature.

astro-ph.HE↗