← Back to Benchmarks
simmediummobile-manipulationmetric · varies
UniPlan: Vision-Language Task Planning for Mobile Manipulation with Unified PDDL Formulation
Description
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 symbolic manipulation domains from real-world demonstrations, described in Planning Domain Definition Language (PDDL), and has successfully applied them to real-world tasks. These domains, however, are restricted to tabletop manipulation. We propose UniPlan, a vision-language task planning system for long-horizon mobile-manip