# NEXUS: An Embodied Planning Framework Jointly Learning Safety Constraints and Action Models

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/kgkta4kp2n4f2iz0fp9fcvk11
- Original: https://arxiv.org/abs/2605.09387

## Summary

NEXUS is a modular neuro-symbolic framework that jointly maintains a PDDL action domain model and an LTL safety specification: execution failures are used to repair action schemas, while detected hazards are converted into reusable LTL constraints through hierarchical semantic and translation sampling with equivalence consensus.