@Article{LIS381,<br>title = {From Pixels to Predicates: Learning Symbolic World Models Via Pretrained VLMs},<br>author = {Ashay Athalye*, Nishanth Kumar*, Tom Silver, Yichao Liang, Jiuguang Wang, Tomás Lozano-Pérez, Leslie Pack Kaelbling},<br>year = {2026},<br>url = {https://ieeexplore.ieee.org/document/11373861},<br>journal = {IEEE Robotics and Automation Letters (RA-L)},<br>}