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Yunxiao Xiao

2 accepted papers

2025

Tru-POMDP: Task Planning Under Uncertainty via Tree of Hypotheses and Open-Ended POMDPs

Wenjing Tang, Xinyu He, Yongxi Huang, Yunxiao Xiao, Cewu Lu, Panpan Cai
NeurIPS 2025poster

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, and open-vocabulary object types, leading to significant open-ended uncertainty and a boundlessly large planning space. To…

Cited by 0Source ↗Scholar ↗
2025

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

Haoming Ye, Yunxiao Xiao, Cewu Lu, Panpan Cai
NeurIPS 2025poster

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…

Cited by 0Source ↗Scholar ↗