STEP builds a coarse-to-fine subgoal tree with LLM-based decomposition and termination checks, reporting higher task success than existing LLM planners on WAH-NL and a real robot.
Fmimic: Foundation models are fine-grained action learners from human videos
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STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner
STEP builds a coarse-to-fine subgoal tree with LLM-based decomposition and termination checks, reporting higher task success than existing LLM planners on WAH-NL and a real robot.