MALMM: Multi-Agent Large Language Models for Zero-Shot Robotics Manipulation
| Autor: | Singh, Harsh, Das, Rocktim Jyoti, Han, Mingfei, Nakov, Preslav, Laptev, Ivan |
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| Rok vydání: | 2024 |
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| Druh dokumentu: | Working Paper |
| Popis: | Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level planning, these approaches often face significant challenges, such as hallucinations in long-horizon tasks and limited adaptability due to the generation of plans in a single pass without real-time feedback. To address these limitations, we propose a novel multi-agent LLM framework, Multi-Agent Large Language Model for Manipulation (MALMM) that distributes high-level planning and low-level control code generation across specialized LLM agents, supervised by an additional agent that dynamically manages transitions. By incorporating observations from the environment after each step, our framework effectively handles intermediate failures and enables adaptive re-planning. Unlike existing methods, our approach does not rely on pre-trained skill policies or in-context learning examples and generalizes to a variety of new tasks. We evaluate our approach on nine RLBench tasks, including long-horizon tasks, and demonstrate its ability to solve robotics manipulation in a zero-shot setting, thereby overcoming key limitations of existing LLM-based manipulation methods. Comment: 48 pages |
| Databáze: | arXiv |
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