BETR-XP-LLM

This is the project repository for the paper

Automatic Behavior Tree Expansion with LLMs for Robotic Manipulation

presented at IEEE International Conference on Robotics and Automation (ICRA), 2025 https://ieeexplore.ieee.org/abstract/document/11127942

A preview version can be found at: https://arxiv.org/abs/2409.13356

Installation

Create a project folder, clone this repo and install requirements

mkdir betr-xp-llm && cd betr-xp-llm
git clone git@github.com/jstyrud/BETR-XP-LLM.git

Install Yolo-World, nanosam, py_trees

https://github.com/AILab-CVC/YOLO-World
https://github.com/NVIDIA-AI-IOT/nanosam
https://github.com/jstyrud/py_trees

Install any missing requirements

pip install -r requirements.txt

The requirements file above is based on a pip freeze from the environment used for the experiments. If there are issues, minimal_requirements.txt can be used instead that only lists requirements specific to this package. pip install -r minimal_requirements.txt

Install rws_py

1. In a terminal go to the directory rws_py
2. pip install -e .

Install cfree_py

Go to https://library.abb.com/r?cid=9AAF630578 and find and install the version most suitable for your setup