arXiv:2610.35686 · v2

FISRF: Flexible Instructional Scaffolding Reflection Framework for Robotics Task Planning with Large Language Model

首次提交 2026-10-27 00:20

版本更新 2026-10-27 20:21

雷达观测 2026-10-29 00:35

摘要

Large Language Models (LLMs) are widely adopted for reflective error correction in task planning; however, existing approaches primarily rely on autonomous exploration, rendering them prone to accumulating erroneous experiences during early interactions with new environments. To address this limitation, we propose the Flexible Instructional Scaffolding Reflection Framework (FISRF), an agent--mentor architecture that estimates the robot's Zone of Proximal Development (ZPD) in task planning and adaptively selects reflection strategies and mentor guidance, thereby facilitating the accumulation of effective error-correction experience. Experiments in ALFWorld and on real-world robotic platforms demonstrate that FISRF reduces the average number of error-correction rounds by 37% and redundant reasoning by 25.1%, while improving the overall task success rate by 8%. Project webpage : https://fisrfplanning.github.io/

作者备注：Accepted to IROS 2026. 8 pages, 6 figures