We introduce the Principled Reasoning and Acting (PRAct) framework, a novel method for learning and enforcing action principles from trajectory data. Central to our approach is the use of text gradients from a reflection and optimization engine to derive these action principles. To adapt action principles to specific task requirements, we propose a new optimization framework, Reflective Principle Optimization (RPO). After execution, RPO employs a reflector to critique current action principles and an optimizer to update them accordingly.We investigate the RPO framework under two scenarios: Reward-RPO, which uses environmental rewards for reflection, and Self-RPO, which conducts self-reflection without external rewards. Additionally, we developed two RPO methods, RPO-Traj and RPO-Batch, to adapt to different settings.Experimental results across four environments demonstrate that the PRAct agent, leveraging the RPO framework, can effectively learn and apply action principles to enhance performance.

We propose an end-to-end deep learning model for translating free-form natural language instructions to a high-level plan for behavioral robot navigation. We use attention models to connect information from both the user instructions and a topological representation of the environment. We evaluate our model’s performance on a new dataset containing 10,050 pairs of navigation instructions. Our model significantly outperforms baseline approaches. Furthermore, our results suggest that it is possible to leverage the environment map as a relevant knowledge base to facilitate the translation of free-form navigational instruction.