A vision-language interpreter that writes PDDL problems, grounded in task-and-motion planning with failure-feedback revision, outperforms a VLM-as-a-planner baseline on bimanual cooking tasks.
Automated Planning for Robotics,
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Grounded Vision-Language Interpreter for Long-Horizon Bimanual Task and Motion Planning
A vision-language interpreter that writes PDDL problems, grounded in task-and-motion planning with failure-feedback revision, outperforms a VLM-as-a-planner baseline on bimanual cooking tasks.