{"id":"https://openalex.org/W4413925973","doi":"https://doi.org/10.1109/icra55743.2025.11128454","title":"LLM-as-BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning","display_name":"LLM-as-BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925973","doi":"https://doi.org/10.1109/icra55743.2025.11128454"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5107291655","display_name":"Jicong Ao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jicong Ao","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380478","display_name":"Fan Wu","orcid":"https://orcid.org/0000-0001-5051-3005"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fan Wu","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026373402","display_name":"Yansong Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yansong Wu","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119516888","display_name":"Abdalla Swiki","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdalla Swiki","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":null,"display_name":"Sami Haddadin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich,Germany","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5107291655"],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":20.4105,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.99198244,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1233","last_page":"1239"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9376999735832214,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9376999735832214,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10260","display_name":"Software Engineering Research","score":0.9164000153541565,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.91774582862854},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6923013925552368},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5760427117347717},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5599683523178101},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5382452011108398},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4399339258670807},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3963330388069153},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3293710947036743},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18639352917671204},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09566116333007812},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07316005229949951}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.91774582862854},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6923013925552368},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5760427117347717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5599683523178101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5382452011108398},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4399339258670807},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3963330388069153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3293710947036743},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18639352917671204},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09566116333007812},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07316005229949951},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2134029974","https://openalex.org/W2161414194","https://openalex.org/W2294712518","https://openalex.org/W2548961765","https://openalex.org/W2784013554","https://openalex.org/W2967901646","https://openalex.org/W2990523276","https://openalex.org/W3001865277","https://openalex.org/W3003568154","https://openalex.org/W3024044737","https://openalex.org/W3131597899","https://openalex.org/W3138524621","https://openalex.org/W3157485280","https://openalex.org/W3174106554","https://openalex.org/W3206602611","https://openalex.org/W3215761265","https://openalex.org/W4200408523","https://openalex.org/W4309374434","https://openalex.org/W4313563147","https://openalex.org/W4324119295","https://openalex.org/W4383108610","https://openalex.org/W4385211464","https://openalex.org/W4385430633","https://openalex.org/W4385570088","https://openalex.org/W4385572634","https://openalex.org/W4386215566","https://openalex.org/W4393160795","https://openalex.org/W4401414318","https://openalex.org/W4401414337","https://openalex.org/W4401414394","https://openalex.org/W4401415245","https://openalex.org/W4402667093"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W99657755","https://openalex.org/W2998826171","https://openalex.org/W2036736859","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W2118356379"],"abstract_inverted_index":{"Robotic":[0],"assembly":[1,83],"tasks":[2],"remain":[3],"an":[4],"open":[5],"challenge":[6],"due":[7],"to":[8,47,58,92,145],"their":[9,28,56],"long":[10],"horizon":[11],"nature":[12],"and":[13,30,98,116,135,154],"complex":[14],"part":[15],"relations.":[16],"Behavior":[17],"trees":[18],"(BTs)":[19],"are":[20,90],"increasingly":[21],"used":[22],"in":[23,81,107,132],"robot":[24],"task":[25,49,84,105],"planning":[26,50],"for":[27,51,78,103],"modularity":[29],"flexibility,":[31],"but":[32],"creating":[33],"them":[34],"manually":[35],"can":[36],"be":[37],"effort-intensive.":[38],"Large":[39],"language":[40,96],"models":[41],"(LLMs)":[42],"have":[43],"recently":[44],"been":[45,63],"applied":[46],"robotic":[48,82],"generating":[52],"action":[53],"sequences,":[54],"yet":[55],"ability":[57,144],"generate":[59,146],"BTs":[60],"has":[61],"not":[62],"fully":[64],"investigated.":[65],"To":[66],"this":[67],"end,":[68],"we":[69,119],"propose":[70],"LLM-as-BT-Planner,":[71],"a":[72],"novel":[73],"framework":[74,141],"that":[75,139],"leverages":[76],"LLMs":[77,102,126],"BT":[79,108],"generation":[80],"planning.":[85],"Four":[86],"in-context":[87,152],"learning":[88,153],"methods":[89],"introduced":[91],"utilize":[93],"the":[94,121,128],"natural":[95],"processing":[97],"inference":[99],"capabilities":[100],"of":[101,123],"producing":[104],"plans":[106],"format,":[109],"reducing":[110],"manual":[111],"effort":[112],"while":[113],"ensuring":[114],"robustness":[115],"comprehensibility.":[117],"Additionally,":[118],"evaluate":[120],"performance":[122],"fine-tuned":[124],"smaller":[125],"on":[127],"same":[129],"tasks.":[130],"Experiments":[131],"both":[133],"simulated":[134],"real-world":[136],"settings":[137],"demonstrate":[138],"our":[140],"enhances":[142],"LLMs'":[143],"BTs,":[147],"improving":[148],"success":[149],"rate":[150],"through":[151],"supervised":[155],"fine-tuning.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-03-25T23:56:10.502304","created_date":"2025-10-10T00:00:00"}