Self-CriTeach lets an LLM generate symbolic domains that supply both chain-of-thought training data and structured rewards, producing a planning-enhanced model with better success rates and generalization.
Predicate invention from pixels via pretrained vision-language models
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cs.RO 2years
2025 2verdicts
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UniDomain extracts atomic PDDL domains from 12,393 robot videos to create a unified domain of 3137 operators and 2875 predicates, then retrieves and fuses relevant parts to enable zero-shot planning on unseen real-world tasks.
citing papers explorer
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Self-CriTeach: LLM Self-Teaching and Self-Critiquing for Improving Robotic Planning via Automated Domain Generation
Self-CriTeach lets an LLM generate symbolic domains that supply both chain-of-thought training data and structured rewards, producing a planning-enhanced model with better success rates and generalization.
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UniDomain: Pretraining a Unified PDDL Domain from Real-World Demonstrations for Generalizable Robot Task Planning
UniDomain extracts atomic PDDL domains from 12,393 robot videos to create a unified domain of 3137 operators and 2875 predicates, then retrieves and fuses relevant parts to enable zero-shot planning on unseen real-world tasks.