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| Main Authors: | , , , |
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| Format: | Preprint |
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2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2602.08537 |
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| _version_ | 1866910016506691584 |
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| author | Ye, Haoming Xiao, Yunxiao Lu, Cewu Cai, Panpan |
| author_facet | Ye, Haoming Xiao, Yunxiao Lu, Cewu Cai, Panpan |
| contents | 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-manipulation in large-scale indoor environments, that unifies scene topology, visuals, and robot capabilities into a holistic PDDL representation. UniPlan programmatically extends learned tabletop domains from UniDomain to support navigation, door traversal, and bimanual coordination. It operates on a visual-topological map, comprising navigation landmarks anchored with scene images. Given a language instruction, UniPlan retrieves task-relevant nodes from the map and uses a VLM to ground the anchored image into task-relevant objects and their PDDL states; next, it reconnects these nodes to a compressed, densely-connected topological map, also represented in PDDL, with connectivity and costs derived from the original map; Finally, a mobile-manipulation plan is generated using off-the-shelf PDDL solvers. Evaluated on human-raised tasks in a large-scale map with real-world imagery, UniPlan significantly outperforms VLM and LLM+PDDL planning in success rate, plan quality, and computational efficiency. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_08537 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | UniPlan: Vision-Language Task Planning for Mobile Manipulation with Unified PDDL Formulation Ye, Haoming Xiao, Yunxiao Lu, Cewu Cai, Panpan Robotics 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-manipulation in large-scale indoor environments, that unifies scene topology, visuals, and robot capabilities into a holistic PDDL representation. UniPlan programmatically extends learned tabletop domains from UniDomain to support navigation, door traversal, and bimanual coordination. It operates on a visual-topological map, comprising navigation landmarks anchored with scene images. Given a language instruction, UniPlan retrieves task-relevant nodes from the map and uses a VLM to ground the anchored image into task-relevant objects and their PDDL states; next, it reconnects these nodes to a compressed, densely-connected topological map, also represented in PDDL, with connectivity and costs derived from the original map; Finally, a mobile-manipulation plan is generated using off-the-shelf PDDL solvers. Evaluated on human-raised tasks in a large-scale map with real-world imagery, UniPlan significantly outperforms VLM and LLM+PDDL planning in success rate, plan quality, and computational efficiency. |
| title | UniPlan: Vision-Language Task Planning for Mobile Manipulation with Unified PDDL Formulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.08537 |