Triple-S: ロボティクスにおける長期的含意タスクを解く協調型マルチLLMフレームワーク
Triple-S: A Collaborative Multi-LLM Framework for Solving Long-Horizon Implicative Tasks in Robotics
複数のLLMが簡略化・解決・要約の役割を分担する閉ループで協調し、ロボット制御の長期的含意タスクの成功率と頑健性を高めるフレームワークを提案。
著者: Zixi Jia, Hongbin Gao, Fashe Li, Jiqiang Liu, Hexiao Li, Qinghua Liu
分類: cs.RO
原文アブストラクト
Leveraging Large Language Models (LLMs) to write policy code for controlling robots has gained significant attention. However, in long-horizon implicative tasks, this approach often results in API parameter, comments and sequencing errors, leading to task failure. To address this problem, we propose a collaborative Triple-S framework that involves multiple LLMs. Through In-Context Learning, different LLMs assume specific roles in a closed-loop Simplification-Solution-Summary process, effectively improving success rates and robustness in long-horizon implicative tasks. Additionally, a novel demonstration library update mechanism which learned from success allows it to generalize to previously failed tasks. We validate the framework in the Long-horizon Desktop Implicative Placement (LDIP) dataset across various baseline models, where Triple-S successfully executes 89% of tasks in both observable and partially observable scenarios. Experiments in both simulation and real-world robot settings further validated the effectiveness of Triple-S. Our code and dataset is available at: https://github.com/Ghbbbbb/Triple-S.