@article{fromfailurestosupervisiondynamicenvplanf,
  title = {From Failures to Supervision: DynamicEnvPlan for Robust Long-Horizon Embodied Planning},
  author = {Hao Yuan and Yuxin Wang and Lei Ji and Zhiwei Yu},
  year = {2026},
  eprint = {2608.00613},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2608.00613},
}