Taxonomy-Agnostic Neurosymbolic Grounding of Robot Kinematics
Overview
This paper introduces URDF2Ontology, an automated neurosymbolic framework that transforms raw Unified Robot Description Format (URDF) files into populated OWL ontologies. The system leverages a Large Language Model for semantic reasoning and employs a morphology-aware dual-track architecture to handle complex kinematic structures. Empirical evaluations on a diverse fleet of robots demonstrate effective schema alignment and structural extraction, significantly reducing the need for manual domain authoring.
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- arXiv Robotics — research abstractsSignalTaxonomy-Agnostic Neurosymbolic Grounding of Robot Kinematics
This paper introduces URDF2Ontology, an automated neurosymbolic framework that transforms raw Unified Robot Description Format (URDF) files into populated OWL ontologies. The system leverages a Large Language Model for semantic reasoning and employs a morphology-aware dual-track architecture to handle complex kinematic structures. Empirical evaluations on a diverse fleet of robots demonstrate effective schema alignment and structural extraction, significantly reducing the need for manual domain authoring.
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