FlowPlan: LLMフローエンジニアリングによるロボット指示追従のゼロショットタスク計画
FlowPlan: Zero-Shot Task Planning with LLM Flow Engineering for Robotic Instruction Following
LLMを多段階ワークフローで活用し、ラベル付きデータなしでロボットの指示追従タスクを計画するゼロショット手法を提案。ALFREDベンチマークと実環境でデータ駆動型手法に匹敵する性能を示した。
著者: Zijun Lin, Chao Tang, Hanjing Ye, Hong Zhang
分類: cs.RO
原文アブストラクト
Robotic instruction following tasks require seamless integration of visual perception, task planning, target localization, and motion execution. However, existing task planning methods for instruction following are either data-driven or underperform in zero-shot scenarios due to difficulties in grounding lengthy instructions into actionable plans under operational constraints. To address this, we propose FlowPlan, a structured multi-stage LLM workflow that elevates zero-shot pipeline and bridges the performance gap between zero-shot and data-driven in-context learning methods. By decomposing the planning process into modular stages--task information retrieval, language-level reasoning, symbolic-level planning, and logical evaluation--FlowPlan generates logically coherent action sequences while adhering to operational constraints and further extracts contextual guidance for precise instance-level target localization. Benchmarked on the ALFRED and validated in real-world applications, our method achieves competitive performance relative to data-driven in-context learning methods and demonstrates adaptability across diverse environments. This work advances zero-shot task planning in robotic systems without reliance on labeled data. Project website: https://instruction-following-project.github.io/.
