搞机器人规划的朋友可以看看 SCOPE，它用符号执行加记忆更新解决开放世界符号不完整的老问题。
SCOPE 提出一种自适应的符号规划框架，由 Symbolic Execution Simulator（SESim）和 Self-Adaptive Symbolic Memory（SASMem）两个模块协同工作。SESim 通过符号验证和实际执行反馈来 refine 行动计划和进化符号世界；SASMem 则将反馈蒸馏为可演化的符号知识。在开放环境实验中，SCOPE 使符号世界完整性提升，在环境扰动下计划成功率提高，并增强了跨任务泛化能力。
SCOPE: Evolving Symbolic World for Planning in Open-Ended Environments
Recent works have explored integrating Vision-Language Models (VLMs) with classical planners that rely on symbolic representations of planning problems to generate long-horizon plans for complex embodied tasks. However, in open-ended environments, these symbolic representations obtained from perception are often incomplete, leading to suboptimal performance. To address this, we introduce SCOPE, a self-adaptive symbolic planning framework that supports refining action plans and evolving the symbolic world, i.e., the symbolic representations of open-ended environments. SCOPE comprises two synergistic modules: a Symbolic Execution Simulator (SESim) that conducts symbolic validation and real execution of action plans, leveraging the feedback to refine the plans and evolve the symbolic world; and a Self-Adaptive Symbolic Memory (SASMem) that further distills feedback into evolving symbolic knowledge to enhance long-horizon planning and modeling of the symbolic world. Experiments in open-ended environments show that SCOPE significantly improves the completeness of the symbolic world, the success rate of plans under environment perturbations, and cross-task grounding and adaptability across diverse embodied scenarios.