# SDA-PLANNER: State-Dependency Aware Adaptive Planner for Embodied Task Planning

arXiv: https://arxiv.org/abs/2509.26375 · HTML: https://mlsanity.com/paper/2509.26375/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 35 references that are in the map.
- First posted on arXiv 30 Sep 2025.

## Builds on (most cited first, 26 of 26)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [A Survey of Large Language Models](https://mlsanity.com/paper/2303.18223/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [ChatGLM: A Family of Large Language Models from GLM-130B to GLM-4 All Tools](https://mlsanity.com/paper/2406.12793/) (2024)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [How Much Knowledge Can You Pack Into the Parameters of a Language Model?](https://mlsanity.com/paper/2002.08910/) (2020)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [Understanding the planning of LLM agents: A survey](https://mlsanity.com/paper/2402.02716/) (2024)
- [Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents](https://mlsanity.com/paper/2302.01560/) (2023)
- [Ghost in the Minecraft: Generally Capable Agents for Open-World Environments via Large Language Models with Text-based Knowledge and Memory](https://mlsanity.com/paper/2305.17144/) (2023)
- [Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning](https://mlsanity.com/paper/2305.14909/) (2023)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Making](https://mlsanity.com/paper/2410.07166/) (2024)
- [A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution](https://mlsanity.com/paper/2107.05612/) (2021)
- [Embodied Task Planning with Large Language Models](https://mlsanity.com/paper/2307.01848/) (2023)
- [MP5: A Multi-modal Open-ended Embodied System in Minecraft via Active Perception](https://mlsanity.com/paper/2312.07472/) (2023)
- [LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoning](https://mlsanity.com/paper/2403.11552/) (2024)
- [DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment](https://mlsanity.com/paper/2307.00329/) (2023)
- [Dynamic Planning with a LLM](https://mlsanity.com/paper/2308.06391/) (2023)
- [LoTa-Bench: Benchmarking Language-oriented Task Planners for Embodied Agents](https://mlsanity.com/paper/2402.08178/) (2024)
- [OctoNav: Towards Generalist Embodied Navigation](https://mlsanity.com/paper/2506.09839/) (2025)
- [How Do Large Language Models Capture the Ever-changing World Knowledge? A Review of Recent Advances](https://mlsanity.com/paper/2310.07343/) (2023)

## Built on by (most cited first, 1 of 1)

- [A Hierarchical Error-Corrective Graph Framework for Autonomous Agents with LLM-Based Action Generation](https://mlsanity.com/paper/2603.08388/) (2026)

## Abstract (arXiv)

Embodied task planning requires agents to produce executable actions in a close-loop manner within the environment. With progressively improving capabilities of LLMs in task decomposition, planning, and generalization, current embodied task planning methods adopt LLM-based architecture.However, existing LLM-based planners remain limited in three aspects, i.e., fixed planning paradigms, lack of action sequence constraints, and error-agnostic. In this work, we propose SDA-PLANNER, enabling an adaptive planning paradigm, state-dependency aware and error-aware mechanisms for comprehensive embodied task planning. Specifically, SDA-PLANNER introduces a State-Dependency Graph to explicitly model action preconditions and effects, guiding the dynamic revision. To handle execution error, it employs an error-adaptive replanning strategy consisting of Error Backtrack and Diagnosis and Adaptive Action SubTree Generation, which locally reconstructs the affected portion of the plan based on the current environment state. Experiments demonstrate that SDA-PLANNER consistently outperforms baselines in success rate and goal completion, particularly under diverse error conditions.