HELP: Hierarchical Embodied Language Planner for Household Tasks

Abstract

Embodied agents tasked with complex scenarios, whether in real or simulated environments, rely heavily on robust planning capabilities. When instructions are formulated in natural language, large language models (LLMs) equipped with extensive linguistic knowledge can play this role. However, to effectively exploit the ability of such models to handle linguistic ambiguity, to retrieve information from the environment, and to be based on the available skills of an agent, an appropriate architecture must be designed. We propose a Hierarchical Embodied Language Planner, called HELP, consisting of a set of LLM-based agents, each dedicated to solving a different subtask. We evaluate the proposed approach on a household task and perform real-world experiments with an embodied agent. We also focus on the use of open source LLMs with a relatively small number of parameters, to enable autonomous deployment.