ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints

arXiv:2604.14902v1 Announce Type: new Abstract: Intelligent embodied agents should not simply follow instructions, as real-world environments often involve unexpected conditions and exceptions. However, existing methods usually focus on directly executing instructions, without considering whether the target objects can actually be manipulated, meaning they fail to assess available affordances. To address this limitation, we introduce DynAfford, a benchmark that evaluates embodied agents in dynam