Design and Evaluation of LLM Chaining-Based Task Planning for General Purpose Service Robots
General Purpose Service Robot (GPSR) tasks, as defined in the RoboCup@Home benchmark, require robots to interpret diverse natural language commands and generate multi-step action sequences in real home environments. Conventional Single Prompt (SP) approaches suffer from context bloat and the "Lost in the Middle" phenomenon, leading to unreliable task planning. We propose an LLM chaining architecture that separates instruction classification and action generation into two specialized stages, reducing per-inference prompt length by approximately 45% while improving planning consistency. We evaluate our method using 100 randomly generated GPSR commands across three language models spanning l...
| Authors | Lucas Da Mota Bruno, Jiahao Sim, Yoshinobu Hagiwara |
|---|---|
| Primary category | cs.RO |
| Published | 24 September 2026 |
| Last updated at source | 24 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.