# LLM+MAP: Bimanual Robot Task Planning using Large Language Models and Planning Domain Definition Language

arXiv: https://arxiv.org/abs/2503.17309 · HTML: https://mlsanity.com/paper/2503.17309/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 47 references that are in the map.
- First posted on arXiv 21 Mar 2025.

## Builds on (most cited first, 30 of 32)

- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [A Survey of Large Language Models](https://mlsanity.com/paper/2303.18223/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [A Survey on Large Language Model based Autonomous Agents](https://mlsanity.com/paper/2308.11432/) (2023)
- [MetaGPT: Meta Programming for A Multi-Agent Collaborative Framework](https://mlsanity.com/paper/2308.00352/) (2023)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Do NOT Think That Much for 2+3=? On the Overthinking of o1-Like LLMs](https://mlsanity.com/paper/2412.21187/) (2024)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents](https://mlsanity.com/paper/2302.01560/) (2023)
- [Scaling Open-Vocabulary Object Detection](https://mlsanity.com/paper/2306.09683/) (2023)
- [SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning](https://mlsanity.com/paper/2307.06135/) (2023)
- [SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models](https://mlsanity.com/paper/2309.10062/) (2023)
- [On the Self-Verification Limitations of Large Language Models on Reasoning and Planning Tasks](https://mlsanity.com/paper/2402.08115/) (2024)
- [Task and Motion Planning with Large Language Models for Object Rearrangement](https://mlsanity.com/paper/2303.06247/) (2023)
- [Translating Natural Language to Planning Goals with Large-Language Models](https://mlsanity.com/paper/2302.05128/) (2023)
- [Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning](https://mlsanity.com/paper/2206.08686/) (2022)
- [AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers](https://mlsanity.com/paper/2306.06531/) (2023)
- [SpeedFolding: Learning Efficient Bimanual Folding of Garments](https://mlsanity.com/paper/2208.10552/) (2022)
- [Chat with the Environment: Interactive Multimodal Perception Using Large Language Models](https://mlsanity.com/paper/2303.08268/) (2023)
- [Task Planning in Robotics: an Empirical Comparison of PDDL-based and ASP-based Systems](https://mlsanity.com/paper/1804.08229/) (2018)
- [Stabilize to Act: Learning to Coordinate for Bimanual Manipulation](https://mlsanity.com/paper/2309.01087/) (2023)
- [Enhancing Zero-Shot Chain-of-Thought Reasoning in Large Language Models through Logic](https://mlsanity.com/paper/2309.13339/) (2023)
- [Vision-Language Interpreter for Robot Task Planning](https://mlsanity.com/paper/2311.00967/) (2023)
- [Bimanual Dexterity for Complex Tasks](https://mlsanity.com/paper/2411.13677/) (2024)
- [Learning Bimanual Scooping Policies for Food Acquisition](https://mlsanity.com/paper/2211.14652/) (2022)
- [NICOL: A Neuro-inspired Collaborative Semi-humanoid Robot that Bridges Social Interaction and Reliable Manipulation](https://mlsanity.com/paper/2305.08528/) (2023)
- [DAG-Plan: Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planning](https://mlsanity.com/paper/2406.09953/) (2024)
- [Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective](https://mlsanity.com/paper/2108.01259/) (2021)
- [Large Language Models for Orchestrating Bimanual Robots](https://mlsanity.com/paper/2404.02018/) (2024)
- [A Comparison of Imitation Learning Algorithms for Bimanual Manipulation](https://mlsanity.com/paper/2408.06536/) (2024)

## Built on by (most cited first, 7 of 7)

- [LLM-based Agents Suffer from Hallucinations: A Survey of Taxonomy, Methods, and Directions](https://mlsanity.com/paper/2509.18970/) (2025)
- [Large Language Models for Planning: A Comprehensive and Systematic Survey](https://mlsanity.com/paper/2505.19683/) (2025)
- [LLM-based Interactive Imitation Learning for Robotic Manipulation](https://mlsanity.com/paper/2504.21769/) (2025)
- [RoboPARA: Dual-Arm Robot Planning with Parallel Allocation and Recomposition Across Tasks](https://mlsanity.com/paper/2506.06683/) (2025)
- [Agentic LLM Planning via Step-Wise PDDL Simulation: An Empirical Characterisation](https://mlsanity.com/paper/2603.06064/) (2026)
- [RobotFleet: An Open-Source Framework for Centralized Multi-Robot Task Planning](https://mlsanity.com/paper/2510.10379/) (2025)
- [One-to-Two Acting: A Novel Framework for Single-arm Agent Action Expansion to Dual Arms](https://mlsanity.com/paper/2606.19897/) (2026)

## Abstract (arXiv)

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on attaining human-level manipulation skills for robotic hands, yet little attention has been paid to task planning on long-horizon timescales. With their outstanding in-context learning and zero-shot generation abilities, Large Language Models (LLMs) have been applied and grounded in diverse robotic embodiments to facilitate task planning. However, LLMs still suffer from errors in long-horizon reasoning and from hallucinations in complex robotic tasks, lacking a guarantee of logical correctness when generating the plan. Previous works, such as LLM+P, extended LLMs with symbolic planners. However, none have been successfully applied to bimanual robots. New challenges inevitably arise in bimanual manipulation, necessitating not only effective task decomposition but also efficient task allocation. To address these challenges, this paper introduces LLM+MAP, a bimanual planning framework that integrates LLM reasoning and multi-agent planning, automating effective and efficient bimanual task planning. We conduct simulated experiments on various long-horizon manipulation tasks of differing complexity. Our method is built using GPT-4o as the backend, and we compare its performance against plans generated directly by LLMs, including GPT-4o, V3 and also recent strong reasoning models o1 and R1. By analyzing metrics such as planning time, success rate, group debits, and planning-step reduction rate, we demonstrate the superior performance of LLM+MAP, while also providing insights into robotic reasoning. Code is available at https://github.com/Kchu/LLM-MAP.