Abstract
Perceptual planning tasks require two key capabilities: accurately perceiving uncertain scenes and planning valid action sequences following logical rules. Conventional methods convert perception into discrete symbolic facts and then plan, discarding perceptual uncertainty and severing task-level feedback to perception. We introduce a generic, fully differentiable neuro-soft-symbolic framework that connects visual perception and task planning within a single computational graph. The framework maintains a continuous soft symbolic state, lifts domain rules into a differentiable soft-$T_P$ transition operator, and optimizes action logits over a short planning horizon. Gradients from the planning objective can also update the perception parameters, allowing task-relevant perceptual representations to be refined during planning. On Blocksworld, our method solves 40/40 LatPlan-40 tasks and 596/600 PlanBench-600 tasks, compared with 33/40 for LatPlan and 587/600 for the reasoning-model baseline, while requiring substantially less computation and time. In the perceptual-uncertainty ablation, our method improves the success rate from 59\% with frozen perception to 83\%. We further conduct task-and-motion simulations on Blocksworld scenes, providing an execution-level validation of the compatibility between decoded task plans and downstream robotic motion execution.
Keywords
Subject
Publication details
- Journal
- Not available
- Open access
- Green open access
Cite this article
APA 7
Wei, H., & AbdAlmageed, W. (2026). A Fully Differentiable Neuro-Soft-Symbolic Framework for Perceptual Task Planning. https://omanscience.com/en/articles/a-fully-differentiable-neuro-soft-symbolic-framework-for-perceptual-task-planning
MLA 9
Wei, Hongyan, and Wael AbdAlmageed. "A Fully Differentiable Neuro-Soft-Symbolic Framework for Perceptual Task Planning." https://omanscience.com/en/articles/a-fully-differentiable-neuro-soft-symbolic-framework-for-perceptual-task-planning.
Chicago (author–date)
Wei, Hongyan, and Wael AbdAlmageed. 2026. "A Fully Differentiable Neuro-Soft-Symbolic Framework for Perceptual Task Planning." https://omanscience.com/en/articles/a-fully-differentiable-neuro-soft-symbolic-framework-for-perceptual-task-planning.
Harvard
Wei, H. and AbdAlmageed, W. (2026) 'A Fully Differentiable Neuro-Soft-Symbolic Framework for Perceptual Task Planning', Available at: https://omanscience.com/en/articles/a-fully-differentiable-neuro-soft-symbolic-framework-for-perceptual-task-planning.
Vancouver
Wei H, AbdAlmageed W. A Fully Differentiable Neuro-Soft-Symbolic Framework for Perceptual Task Planning. https://omanscience.com/en/articles/a-fully-differentiable-neuro-soft-symbolic-framework-for-perceptual-task-planning
IEEE
H. Wei, and W. AbdAlmageed, "A Fully Differentiable Neuro-Soft-Symbolic Framework for Perceptual Task Planning," https://omanscience.com/en/articles/a-fully-differentiable-neuro-soft-symbolic-framework-for-perceptual-task-planning.