Haoming Ye

UniDomain: Pretraining a Unified PDDL Domain from Real-World Demonstrations for Generalizable Robot Task Planning

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 long-horizon structure and symbolic grounding. Existing meth- ods that combine LLMs with symbolic planning often rely on…