Mobile Manipulation on Floorplans 4 - 6 rooms (test)
100SRLLM-driven constraint-based planning framework
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=10, Environment Knowledge=known2026.02 | 100 | 1.28 | 1,040.42 | 50.38 | |
| Always InteractEpisode Horizon (g)=102026.02 | 100 | 1.37 | 1,521.58 | 34.51 | |
| Clean + S/PEpisode Horizon (g)=102026.02 | 100 | 1 | 1,909.91 | 33.52 | |
| Always InteractEpisode Horizon (g)=152026.02 | 100 | 1.34 | 1,983.3 | 26.7 | |
| Clean + S/PEpisode Horizon (g)=152026.02 | 100 | 1 | 2,383.58 | 27.08 | |
| Always InteractEpisode Horizon (g)=202026.02 | 100 | 1.13 | 2,416.67 | 17.07 | |
| Clean + S/PEpisode Horizon (g)=202026.02 | 100 | 1 | 2,622.94 | 17.14 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=15, Environment Knowledge=known2026.02 | 97.78 | 1.2 | 1,403.76 | 38.77 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=20, Environment Knowledge=known2026.02 | 97.73 | 1.25 | 1,911.97 | 19.45 | |
| Always DetourEpisode Horizon (g)=102026.02 | 86.36 | 2.1 | 613.52 | 45.16 | |
| Always DetourEpisode Horizon (g)=152026.02 | 84.44 | 2.09 | 878.97 | 30.85 | |
| Always DetourEpisode Horizon (g)=202026.02 | 83.18 | 2.15 | 1,115.27 | 16.44 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=20, Environment Knowledge=unknown2026.02 | 81.67 | 1.81 | 3,211.2 | 5.98 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=15, Environment Knowledge=unknown2026.02 | 79.41 | 1.46 | 2,049.79 | 18.85 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=10, Environment Knowledge=unknown2026.02 | 72.42 | 2.12 | 2,099.79 | 11.55 |