Training a VLM planner on recovery traces synthesized from perturbations and privileged corrections lifts dynamic household task success from 33.3% to 76.2%.
SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation , booktitle =
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From Failures to Supervision: DynamicEnvPlan for Robust Long-Horizon Embodied Planning
Training a VLM planner on recovery traces synthesized from perturbations and privileged corrections lifts dynamic household task success from 33.3% to 76.2%.