ASPERA: A Simulated Environment to Evaluate Planning for Complex Action Execution. - Alexandru Coca; Mark Gaynor; Zhenxing Zhang; Jianpeng Cheng 001; Bo-Hsiang Tseng; Peter Boothroyd; Héctor Martínez Alonso; Diarmuid Ó Séaghdha; Anders Johannsen (ACL (1), 2025)