Natural Language PDDL (NL-PDDL) for Open-world Goal-oriented Commonsense Regression Planning in Embodied AI - Liu, Xiaotian; Toroghi, Armin; Liang, Jiazhou; Courtis, David; Li, Ruiwen; Pesaranghader, Ali; Kim, Jaehong; Sadhu, Tanmana; Jeon, Hyejeong; Sanner, Scott (International Conference on Learning Representations, 2026)