COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models
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arXiv
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| Autori principali: | , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866913764858658816 |
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| author | Liu, Kehui Tang, Zixin Wang, Dong Wang, Zhigang Li, Xuelong Zhao, Bin |
| author_facet | Liu, Kehui Tang, Zixin Wang, Dong Wang, Zhigang Li, Xuelong Zhao, Bin |
| contents | Leveraging the powerful reasoning capabilities of large language models (LLMs), recent LLM-based robot task planning methods yield promising results. However, they mainly focus on single or multiple homogeneous robots on simple tasks. Practically, complex long-horizon tasks always require collaboration among multiple heterogeneous robots especially with more complex action spaces, which makes these tasks more challenging. To this end, we propose COHERENT, a novel LLM-based task planning framework for collaboration of heterogeneous multi-robot systems including quadrotors, robotic dogs, and robotic arms. Specifically, a Proposal-Execution-Feedback-Adjustment (PEFA) mechanism is designed to decompose and assign actions for individual robots, where a centralized task assigner makes a task planning proposal to decompose the complex task into subtasks, and then assigns subtasks to robot executors. Each robot executor selects a feasible action to implement the assigned subtask and reports self-reflection feedback to the task assigner for plan adjustment. The PEFA loops until the task is completed. Moreover, we create a challenging heterogeneous multi-robot task planning benchmark encompassing 100 complex long-horizon tasks. The experimental results show that our work surpasses the previous methods by a large margin in terms of success rate and execution efficiency. The experimental videos, code, and benchmark are released at https://github.com/MrKeee/COHERENT. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_15146 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models Liu, Kehui Tang, Zixin Wang, Dong Wang, Zhigang Li, Xuelong Zhao, Bin Robotics Artificial Intelligence Leveraging the powerful reasoning capabilities of large language models (LLMs), recent LLM-based robot task planning methods yield promising results. However, they mainly focus on single or multiple homogeneous robots on simple tasks. Practically, complex long-horizon tasks always require collaboration among multiple heterogeneous robots especially with more complex action spaces, which makes these tasks more challenging. To this end, we propose COHERENT, a novel LLM-based task planning framework for collaboration of heterogeneous multi-robot systems including quadrotors, robotic dogs, and robotic arms. Specifically, a Proposal-Execution-Feedback-Adjustment (PEFA) mechanism is designed to decompose and assign actions for individual robots, where a centralized task assigner makes a task planning proposal to decompose the complex task into subtasks, and then assigns subtasks to robot executors. Each robot executor selects a feasible action to implement the assigned subtask and reports self-reflection feedback to the task assigner for plan adjustment. The PEFA loops until the task is completed. Moreover, we create a challenging heterogeneous multi-robot task planning benchmark encompassing 100 complex long-horizon tasks. The experimental results show that our work surpasses the previous methods by a large margin in terms of success rate and execution efficiency. The experimental videos, code, and benchmark are released at https://github.com/MrKeee/COHERENT. |
| title | COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2409.15146 |