Behavior Tree Generation using Large Language Models for Sequential Manipulation Planning with Human Instructions and Feedback

Abstract

Sequential manipulation planning has been a critical imperative to achieve a higher level of autonomy in robotics. Classical approaches to address task planning problems are based on symbolic formalisms, such as Planning Domain Definition Language (PDDL) [1], and search for state transition plans to reach task goals. In practice, such task plans are often programmed as Finite State Machines (FSMs), which incorporate expert knowledge specifying control and execution details. Due to its limitation of scalability [2], Behavior trees (BTs), which represent policies in a state-less, hierarchical tree structure, have gained increasing popularity for complex task planning. Its advantages of modularity, reusability and reactivity, make it a more desired formalism for long-horizon manipulation tasks.