[Paper Review] Inner Monologue

• Methodology: Closed-loop (with feedback)
  1. Semantic constraints and objectives
  2. Intractable number of rules
• Limitations
  1. Question: Human needs to reason instead. Not considering the scene. 
  2. Cannot solve Long Horizon problem
     • Only command consists of pick and place
     • Fail to ground contextually dependent action: How to plan well while being contextually aware
       • For example,
  3. Awareness of geometric constraints during planning
     
     • For example, "phone" to be "obstacle"