Preprint
Aug 2026
From Failures to Supervision: DynamicEnvPlan for Robust Long-Horizon Embodied Planning
This work introduces DynamicEnvPlan, a closed-loop framework for high-level planning in dynamic environments that extends embodied task execution with humanoid agents, high-level primitive skills, structured semantic memory, and controllable perturbations.
Hao Yuan, Yuxin Wang, Lei Ji et al.
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