LLM誘導による探索で実現する身体性タスク計画フレームワークTESS
TESS: LLM-guided Translation, Exploration, Simulation, and Search for Embodied Task Planning
LLMの常識知識を活用して自然言語指示の目標条件変換・部分観測環境の効率的探索・ルールベース世界シミュレータ・行動候補の枝刈りを行い、古典的探索アルゴリズムと組み合わせて身体性タスク計画の精度と実行可能性を高めた研究。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Peiran Xu, Yixiang Yang, Jinghan Li, Fei Li, Cao Sheng, JiaZhong Yu, Yadong Mu
分類: cs.AI
原文アブストラクト
In this work we focus on the problem of embodied task planning, which requires an agent to accomplish a complex task by separating it into atomic actions. Recent studies have developed LLM-based methods to address this problem. However, the executability and correctness of the generated plans remain suboptimal in complex environments and tasks. On the other hand, classical search algorithms have the potential to solve the planning problems perfectly, yet they require fully observable environments, known state transitions and goal state, which are often unattainable in general task domains. Therefore, we propose to implement an LLM-guided search algorithm that makes the search process possible and efficient by incorporating LLMs' commonsense knowledge. Our method leverages LLMs to (1) translate natural language instructions into formatted goal conditions, (2) facilitate efficient exploration in partially observable environments, (3) implement a rule-based world simulator, and (4) prune the space of candidate actions to improve search efficiency. Experimental results on VirtualHome and ALFWorld demonstrate its superior performance.