@article{asperaasimulatedenvironmenttoevaluatepla,
  title = {ASPERA: A Simulated Environment to Evaluate Planning for Complex Action Execution},
  author = {Alexandru Coca and Mark Gaynor and Zhenxing Zhang and Jianpeng Cheng and Bo-Hsiang Tseng and Pete Boothroyd and Héctor Martinez Alonso and Diarmuid Ó Séaghdha and Anders Johannsen},
  year = {2025},
  eprint = {2507.15501},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.15501},
}