diff --git a/README.md b/README.md
index 7a8a321..a33c78f 100755
--- a/README.md
+++ b/README.md
@@ -57,7 +57,8 @@ If you find this repository useful, please consider [citing](#citation) and STAR
 
 ---
 ## Planning
-* "Embodied AI in Mobile Robots: Coverage Path Planning with Large Language Models", *arXiV, Jul 2024*, [[Paper](https://arxiv.org/abs/2407.02220)]
+* **FLTRNN**: "FLTRNN: Faithful Long-Horizon Task Planning for Robotics with Large Language Models", ICRA May 17th 2024, [[Paper](https://tannl.github.io/FLTRNN.github.io/FLTRNN_Faithful_Long_Horizon_Task_Planning_for_Robotics_with_Large_Language_Models.pdf)] [[Code](https://github.com/tannl/FLTRNN.github.io)] [[Website](https://tannl.github.io/FLTRNN.github.io/)]
+* **Embodied AI in Mobile Robots**: Coverage Path Planning with Large Language Models", *arXiV, Jul 2024*, [[Paper](https://arxiv.org/abs/2407.02220)]
 * **LLM-Personalize**: "LLM-Personalize: Aligning LLM Planners with Human Preferences via Reinforced Self-Training for Housekeeping Robots", *arXiv, Apr 2024*. [[Paper](https://arxiv.org/abs/2404.14285)] [[Website](https://donggehan.github.io/projectllmpersonalize/)] [[Code](https://github.com/donggehan/codellmpersonalize/)]
 * **LLM3**: "LLM3: Large Language Model-based Task and Motion Planning with Motion Failure Reasoning", *IROS, Mar 2024*. [[Paper](https://arxiv.org/abs/2403.11552)][[Code](https://github.com/AssassinWS/LLM-TAMP)]
 * **BTGenBot**: "BTGenBot: Behavior Tree Generation for Robotic Tasks with Lightweight LLMs", *arXiv, March 2024*. [[Paper](https://arxiv.org/abs/2403.12761)][[Github](https://github.com/AIRLab-POLIMI/BTGenBot)]