ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning

Zhehua Zhou, Jiayang Song, Kunpeng Yao, Zhan Shu, Lei Ma

Abstract: Motivated by the substantial achievements of Large Language Models (LLMs) in the field of natural language processing, recent research has commenced investigations into the application of LLMs for complex, long-horizon sequential task planning challenges in robotics. LLMs are advantageous in offering the potential to enhance the generalizability as task-agnostic planners and facilitate flexible interaction between human instructors and planning systems. However, task plans generated by LLMs often lack feasibility and correctness. To address this challenge, we introduce ISR-LLM, a novel framework that improves LLM-based planning through an iterative self-refinement process. The framework operates through three sequential steps: preprocessing, planning, and iterative self-refinement. During preprocessing, an LLM translator is employed to convert natural language input into a Planning Domain Definition Language (PDDL) formulation. In the planning phase, an LLM planner formulates an initial plan, which is then assessed and refined in the iterative self-refinement step by a validator. We examine the performance of ISR-LLM across three distinct planning domains. Our experimental results show that ISR-LLM is able to achieve markedly higher success rates in sequential task planning compared to state-of-the-art LLM-based planners. Moreover, it also preserves the broad applicability and generalizability of working with natural language instructions.