ET-Plan-Bench: Embodied Task-level Planning Benchmark Towards Spatial-Temporal Cognition with Foundation Models

• URL: http://arxiv.org/abs/2410.14682v1
• Date: Wed, 02 Oct 2024 19:56:38 GMT
• Title: ET-Plan-Bench: Embodied Task-level Planning Benchmark Towards Spatial-Temporal Cognition with Foundation Models
• Authors: Lingfeng Zhang, Yuening Wang, Hongjian Gu, Atia Hamidizadeh, Zhanguang Zhang, Yuecheng Liu, Yutong Wang, David Gamaliel Arcos Bravo, Junyi Dong, Shunbo Zhou, Tongtong Cao, Yuzheng Zhuang, Yingxue Zhang, Jianye Hao,
• Abstract summary: ET-Plan-Bench is a benchmark for embodied task planning using Large Language Models (LLMs) It features a controllable and diverse set of embodied tasks varying in different levels of difficulties and complexities. Our benchmark distinguishes itself as a large-scale, quantifiable, highly automated, and fine-grained diagnostic framework.
• Score: 39.606908488885125
• License:
• Abstract: Recent advancements in Large Language Models (LLMs) have spurred numerous attempts to apply these technologies to embodied tasks, particularly focusing on high-level task planning and task decomposition. To further explore this area, we introduce a new embodied task planning benchmark, ET-Plan-Bench, which specifically targets embodied task planning using LLMs. It features a controllable and diverse set of embodied tasks varying in different levels of difficulties and complexities, and is designed to evaluate two critical dimensions of LLMs' application in embodied task understanding: spatial (relation constraint, occlusion for target objects) and temporal & causal understanding of the sequence of actions in the environment. By using multi-source simulators as the backend simulator, it can provide immediate environment feedback to LLMs, which enables LLMs to interact dynamically with the environment and re-plan as necessary. We evaluated the state-of-the-art open source and closed source foundation models, including GPT-4, LLAMA and Mistral on our proposed benchmark. While they perform adequately well on simple navigation tasks, their performance can significantly deteriorate when faced with tasks that require a deeper understanding of spatial, temporal, and causal relationships. Thus, our benchmark distinguishes itself as a large-scale, quantifiable, highly automated, and fine-grained diagnostic framework that presents a significant challenge to the latest foundation models. We hope it can spark and drive further research in embodied task planning using foundation models.

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