LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoning
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arXiv
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| Format: | Preprint |
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2024
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| author | Wang, Shu Han, Muzhi Jiao, Ziyuan Zhang, Zeyu Wu, Ying Nian Zhu, Song-Chun Liu, Hangxin |
| author_facet | Wang, Shu Han, Muzhi Jiao, Ziyuan Zhang, Zeyu Wu, Ying Nian Zhu, Song-Chun Liu, Hangxin |
| contents | Conventional Task and Motion Planning (TAMP) approaches rely on manually crafted interfaces connecting symbolic task planning with continuous motion generation. These domain-specific and labor-intensive modules are limited in addressing emerging tasks in real-world settings. Here, we present LLM^3, a novel Large Language Model (LLM)-based TAMP framework featuring a domain-independent interface. Specifically, we leverage the powerful reasoning and planning capabilities of pre-trained LLMs to propose symbolic action sequences and select continuous action parameters for motion planning. Crucially, LLM^3 incorporates motion planning feedback through prompting, allowing the LLM to iteratively refine its proposals by reasoning about motion failure. Consequently, LLM^3 interfaces between task planning and motion planning, alleviating the intricate design process of handling domain-specific messages between them. Through a series of simulations in a box-packing domain, we quantitatively demonstrate the effectiveness of LLM^3 in solving TAMP problems and the efficiency in selecting action parameters. Ablation studies underscore the significant contribution of motion failure reasoning to the success of LLM^3. Furthermore, we conduct qualitative experiments on a physical manipulator, demonstrating the practical applicability of our approach in real-world settings. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_11552 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoning Wang, Shu Han, Muzhi Jiao, Ziyuan Zhang, Zeyu Wu, Ying Nian Zhu, Song-Chun Liu, Hangxin Robotics Artificial Intelligence Conventional Task and Motion Planning (TAMP) approaches rely on manually crafted interfaces connecting symbolic task planning with continuous motion generation. These domain-specific and labor-intensive modules are limited in addressing emerging tasks in real-world settings. Here, we present LLM^3, a novel Large Language Model (LLM)-based TAMP framework featuring a domain-independent interface. Specifically, we leverage the powerful reasoning and planning capabilities of pre-trained LLMs to propose symbolic action sequences and select continuous action parameters for motion planning. Crucially, LLM^3 incorporates motion planning feedback through prompting, allowing the LLM to iteratively refine its proposals by reasoning about motion failure. Consequently, LLM^3 interfaces between task planning and motion planning, alleviating the intricate design process of handling domain-specific messages between them. Through a series of simulations in a box-packing domain, we quantitatively demonstrate the effectiveness of LLM^3 in solving TAMP problems and the efficiency in selecting action parameters. Ablation studies underscore the significant contribution of motion failure reasoning to the success of LLM^3. Furthermore, we conduct qualitative experiments on a physical manipulator, demonstrating the practical applicability of our approach in real-world settings. |
| title | LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoning |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2403.11552 |