3 papers
cs.RO2026
UniDomain: Pretraining a Unified PDDL Domain from Real-World Demonstrations for Generalizable Robot Task Planning
Haoming Ye, Yunxiao Xiao, Cewu Lu +1
Robotic task planning in real-world environments requires reasoning over implicit constraints from language and vision. While LLMs and VLMs offer strong priors, they struggle with…
cs.RO2026
Tru-POMDP: Task Planning Under Uncertainty via Tree of Hypotheses and Open-Ended POMDPs
Wenjing Tang, Xinyu He, Yongxi Huang +3
Task planning under uncertainty is essential for home-service robots operating in the real world. Tasks involve ambiguous human instructions, hidden or unknown object locations, an…
cs.RO2026
UniPlan: Vision-Language Task Planning for Mobile Manipulation with Unified PDDL Formulation
Haoming Ye, Yunxiao Xiao, Cewu Lu +1
Integration of VLM reasoning with symbolic planning has proven to be a promising approach to real-world robot task planning. Existing work like UniDomain effectively learns symboli…