Behavior Tree Generation on LLM-based BT Generation Benchmark
5.1Execution Time (Easy)BTGenBot-2
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| BTGenBot-2Prompting Strategy=Zero-shot, Error Recovery=false2026.02 | 5.1 | — | — | — | — | 7.5 | — | — | 11 | 84.61 | 100 | 96.15 | 94.23 | |
| BTGenBot-2-ERPrompting Strategy=Zero-shot, Error Recovery=true2026.02 | 5.8 | — | — | — | — | 8.2 | — | — | 11.7 | 90.38 | 100 | 100 | 94.23 | |
| BTGenBot-2-ERPrompting Strategy=One-shot, Error Recovery=true2026.02 | 8.4 | — | — | — | — | 9.6 | — | — | 13.1 | 98.07 | 100 | 100 | 98.07 | |
| BTGenBot-2Prompting Strategy=One-shot, Error Recovery=false2026.02 | 8.4 | — | — | — | — | 8.9 | — | — | 12.6 | 92.38 | 100 | 98.07 | 94.23 | |
| GPT-5 InstantPrompting Strategy=Zero-shot, Error Recovery=false2026.02 | 12.8 | — | — | — | — | 15 | — | — | 15.2 | 65.38 | 88.46 | 82.69 | 80.76 | |
| GPT-5 InstantPrompting Strategy=One-shot, Error Recovery=false2026.02 | 15.3 | — | — | — | — | 16.2 | — | — | 18.8 | 78.84 | 96.15 | 86.53 | 84.61 | |
| Claude Opus 4.1Prompting Strategy=Zero-shot, Error Recovery=false2026.02 | 23.1 | — | — | — | — | 27.4 | — | — | 29.8 | 65.38 | 90.38 | 82.69 | 80.76 | |
| Claude Opus 4.1-ERPrompting Strategy=Zero-shot, Error Recovery=true2026.02 | 23.9 | — | — | — | — | 28.1 | — | — | 30.4 | 76.92 | 92.3 | 90.38 | 88.46 | |
| Claude Opus 4.1Prompting Strategy=One-shot, Error Recovery=false2026.02 | 25 | — | — | — | — | 29.4 | — | — | 33.6 | 84.61 | 96.15 | 90.38 | 88.46 | |
| Claude Opus 4.1-ERPrompting Strategy=One-shot, Error Recovery=true2026.02 | 25.5 | — | — | — | — | 29.8 | — | — | 34.3 | 88.46 | 100 | 96.15 | 94.23 | |
| GPT-5 ThinkingPrompting Strategy=Zero-shot, Error Recovery=false2026.02 | 34.2 | — | — | — | — | 36.8 | — | — | 39.7 | 71.15 | 92.3 | 86.53 | 86.53 | |
| GPT-5 ThinkingPrompting Strategy=One-shot, Error Recovery=false2026.02 | 35.8 | — | — | — | — | 36.8 | — | — | 42.2 | 84.61 | 100 | 92.3 | 88.46 | |
| BTGenBotPrompting Strategy=Zero-shot, Error Recovery=false2026.02 | 85 | — | — | — | — | 98 | — | — | 178 | 57.69 | 63.46 | 78.84 | 46.15 | |
| BTGenBotPrompting Strategy=One-shot, Error Recovery=false2026.02 | 101 | — | — | — | — | 114 | — | — | 197 | 71.15 | 73.07 | 84.61 | 51.92 |