mlsanityData to 14 Oct 2026

Self-Recovery Prompting: Promptable General Purpose Service Robot System with Foundation Models and Self-Recovery

arXiv 2309.14425 ↗First posted 25 Sep 2023cs.RO cs.AI cs.CVcited by 6

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Abstract (arXiv)

A general-purpose service robot (GPSR), which can execute diverse tasks in various environments, requires a system with high generalizability and adaptability to tasks and environments. In this paper, we first developed a top-level GPSR system for worldwide competition (RoboCup@Home 2023) based on multiple foundation models. This system is both generalizable to variations and adaptive by prompting each model. Then, by analyzing the performance of the developed system, we found three types of failure in more realistic GPSR application settings: insufficient information, incorrect plan generation, and plan execution failure. We then propose the self-recovery prompting pipeline, which explores the necessary information and modifies its prompts to recover from failure. We experimentally confirm that the system with the self-recovery mechanism can accomplish tasks by resolving various failure cases. Supplementary videos are available at https://sites.google.com/view/srgpsr .

Key facts. Cited by 6 papers in the map (data through 14 Oct 2026). Builds on 28 of its 42 references that are in the map. First posted on arXiv 25 Sep 2023.

Builds on

28 of 42 references.

References · 28

  1. 2020Language Models are Few-Shot Learnerscited by 32,419
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  3. 2023GPT-4 Technical Reportcited by 18,396
  4. 2023LLaMA: Open and Efficient Foundation Language Modelscited by 14,132
  5. 2022Chain-of-Thought Prompting Elicits Reasoning in Large Language Modelscited by 12,459
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16 more
  1. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,348
  2. 2021Pre-train, Prompt, and Predict: A Systematic Survey of Prompting Methods in Natural Language Processingcited by 2,234
  3. 2022Code as Policies: Language Model Programs for Embodied Controlcited by 1,210
  4. 2023Neural Codec Language Models are Zero-Shot Text to Speech Synthesizerscited by 752
  5. 2022Detecting Twenty-thousand Classes using Image-level Supervisioncited by 614
  6. 2021AudioCLIP: Extending CLIP to Image, Text and Audiocited by 339
  7. 2023Robots That Ask For Help: Uncertainty Alignment for Large Language Model Plannerscited by 308
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  9. 2023REFLECT: Summarizing Robot Experiences for Failure Explanation and Correctioncited by 175
  10. 2022CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memorycited by 165
  11. 2023DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignmentcited by 61
  12. 2023Audio Visual Language Maps for Robot Navigationcited by 30
  13. 2023DRAGON: A Dialogue-Based Robot for Assistive Navigation with Visual Language Groundingcited by 9
  14. 2022World Robot Challenge 2020 -- Partner Robot: A Data-Driven Approach for Room Tidying with Mobile Manipulatorcited by 5
  15. 2023Foundation Model based Open Vocabulary Task Planning and Executive System for General Purpose Service Robotscited by 4
  16. 2019Desiderata for Planning Systems in General-Purpose Service Robotscited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 3; 2025: 1; 2026: 2.

6 papers.

  1. 2024Real-World Robot Applications of Foundation Models: A Reviewcited by 61
  2. 2024Safety Control of Service Robots with LLMs and Embodied Knowledge Graphscited by 7
  3. 2024Task Success Prediction for Open-Vocabulary Manipulation Based on Multi-Level Aligned Representationscited by 3
  4. 2025A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Roboticscited by 2
  5. 2026SPINE: Bridging the Cyber-Physical Gap with Agentic AIcited by 0
  6. 2026Design and Evaluation of LLM Chaining-Based Task Planning for General Purpose Service Robotscited by 0