• In this paper, we introduce CAPE: an approach to address errors encountered by a robot or agent when executing a plan.
  • We showcase our method in simulation (AI2THOR) and with a real robot (Boston Dynamics Spot quadruped robot).
  • This paper is to appear at ICRA 2024!


S. Sundara Raman, V. Cohen, I. Idrees, E. Rosen, R. Mooney, S. Tellex, and D. Paulius (2024). “CAPE: Corrective Actions from Precondition Errors using Large Language Models”. In: 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE.