Design and Evaluation of LLM Chaining-Based Task Planning for General Purpose Service Robots

arXiv:2609.29043 · cs.RO, cs.AI, cs.CL · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.AI, cs.CL

Submitted: 2026-09-24

Updated: 2026-09-24

Code: https://github.com/RoboCupAtHomeJP/CommandGenerator

Terminology

• Benchmark — 9× in this paper · explained in 2 episodes
• Task Planning — 7× in this paper · explained in 2 episodes
• General Purpose Service Robot — 5× in this paper
• Single Prompt — 5× in this paper
• AUC — 3× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Iterative Refinement — 2× in this paper · explained in 3 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptivity — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Hallucination — 1× in this paper · explained in 4 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes

Sources

• SAM 3: Segment Anything with Concepts

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