A robot replanner that compares scene graphs to successful demonstrations before each subtask, triggering LLM-based replanning on mismatch, raises task success in AI2-THOR.
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Scene Graph-Guided Proactive Replanning for Failure-Resilient Embodied Agent
A robot replanner that compares scene graphs to successful demonstrations before each subtask, triggering LLM-based replanning on mismatch, raises task success in AI2-THOR.