You should use the with binding or foreach binding to ensure the object exists before the bindings attempt to resolve -
<form data-bind="submit: update, with: domainModel">
<input id="name" data-bind="value: name"/>
<input id="description" data-bind="value: description"/>
<button type="submit"/>
</form>
Basically, until domainModel has a value name and description will not be resolved. Another approach is to use a $data. prefix to say 'if there is no data, wait until there is'
<form data-bind="submit: update">
<input id="name" data-bind="value: $data.domainModel().name"/>
<input id="name" data-bind="value: $data.domainModel().description"/>
<button type="submit"/>
</form>