Robot Behavior-Tree-Based Task Generation with Large Language Models
- URL: http://arxiv.org/abs/2302.12927v1
- Date: Fri, 24 Feb 2023 22:53:10 GMT
- Title: Robot Behavior-Tree-Based Task Generation with Large Language Models
- Authors: Yue Cao and C.S. George Lee
- Abstract summary: We propose a novel behavior-tree-based task generation approach that utilizes state-of-the-art large language models.
We propose a Phase-Step prompt design that enables a hierarchical-structured robot task generation and further integrate it with behavior-tree-embedding-based search to set up the appropriate prompt.
Our behavior-tree-based task generation approach does not require a set of pre-defined primitive tasks.
- Score: 14.384843227828775
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Nowadays, the behavior tree is gaining popularity as a representation for
robot tasks due to its modularity and reusability. Designing behavior-tree
tasks manually is time-consuming for robot end-users, thus there is a need for
investigating automatic behavior-tree-based task generation. Prior
behavior-tree-based task generation approaches focus on fixed primitive tasks
and lack generalizability to new task domains. To cope with this issue, we
propose a novel behavior-tree-based task generation approach that utilizes
state-of-the-art large language models. We propose a Phase-Step prompt design
that enables a hierarchical-structured robot task generation and further
integrate it with behavior-tree-embedding-based search to set up the
appropriate prompt. In this way, we enable an automatic and cross-domain
behavior-tree task generation. Our behavior-tree-based task generation approach
does not require a set of pre-defined primitive tasks. End-users only need to
describe an abstract desired task and our proposed approach can swiftly
generate the corresponding behavior tree. A full-process case study is provided
to demonstrate our proposed approach. An ablation study is conducted to
evaluate the effectiveness of our Phase-Step prompts. Assessment on Phase-Step
prompts and the limitation of large language models are presented and
discussed.
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