Self-Evolutionary Replanning for Failure-Aware Motion Planning

arXiv:2603.02772 · cs.RO · Submitted 2026-03-03 · Read on arXiv

cs.RO

Submitted: 2026-03-03

Updated: 2026-09-26

Code: https://github.com/NVIDIA-AI-IOT/remembr

Terminology

• RAG — 10× in this paper · explained in 3 episodes
• Loss Function — 6× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Distillation — 3× in this paper · explained in 2 episodes
• In-Context Learning — 3× in this paper · explained in 4 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Adaptability — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Large Language Model (LLM) — 2× in this paper · explained in 3 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Embodied AI — 1× in this paper · explained in 2 episodes
• Frozen model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Hallucination — 1× in this paper · explained in 3 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Reduced Graph Token Ratio — 1× in this paper
• Regularization — 1× in this paper · explained in 3 episodes
• Verifier — 1× in this paper · explained in 2 episodes
• Vision-Language Model — 1× in this paper
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• GPT-4 Technical Report
• Errors are Useful Prompts: Instruction Guided Task Programming with Verifier-Assisted Iterative Prompting
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
• On Evaluation of Embodied Navigation Agents

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