Disha Kamale

PDDL-ART: Autonomous Symbolic Abstraction From Demonstration For Long-Horizon Robotic Manipulation Using Vision-Language Models

PDDL-ART is a framework that autonomously generates task-specific PDDL domain and problem descriptions from a single expert demonstration, a natural language task description, and a library of available high-level action names, which leverages the tool-use capabilities of modern VLMs to incorporate geometric and temporal reasoning for evaluating relational predicates that are not directly discernible from images alone.