Training a VLM planner on recovery traces synthesized from perturbations and privileged corrections lifts dynamic household task success from 33.3% to 76.2%.
Sanketi and Quan Vuong and Thomas Kollar and Benjamin Burchfiel and Russ Tedrake and Dorsa Sadigh and Sergey Levine and Percy Liang and Chelsea Finn , editor =
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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%.