Abstract
The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper presents a novel approach designed to generate correct and optimal robotic task plans for diverse real-world demands and scenarios. LLMs have been used to generate task plans, but they are unreliable and may contain wrong, questionable, or high-cost steps. The proposed approach uses LLM to generate a number of task plans as trees and amalgamates them into a graph by removing questionable paths. Then an optimal task tree can be retrieved to circumvent questionable and high-cost nodes, thereby improving planning accuracy and execution efficiency. The approach is further improved by incorporating a large knowledge network. Leveraging GPT-4 further, the high-level task plan is converted into a low-level Planning Domain Definition Language (PDDL) plan executable by a robot. Evaluation results highlight the superior accuracy and efficiency of our approach compared to previous methodologies in the field of task planning.
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More From: International Journal of Artificial Intelligence and Robotics Research
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