# Triple-S: A Collaborative Multi-LLM Framework for Solving Long-Horizon Implicative Tasks in Robotics

arXiv: https://arxiv.org/abs/2508.07421 · HTML: https://mlsanity.com/paper/2508.07421/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Aug 2025.

## Built on by (most cited first, 1 of 1)

- [HEART: Coordination of Heterogeneous Expert Agents for Physically Grounded Robotic Task Planning](https://mlsanity.com/paper/2606.25404/) (2026)

## Abstract (arXiv)

Leveraging Large Language Models (LLMs) to write policy code for controlling robots has gained significant attention. However, in long-horizon implicative tasks, this approach often results in API parameter, comments and sequencing errors, leading to task failure. To address this problem, we propose a collaborative Triple-S framework that involves multiple LLMs. Through In-Context Learning, different LLMs assume specific roles in a closed-loop Simplification-Solution-Summary process, effectively improving success rates and robustness in long-horizon implicative tasks. Additionally, a novel demonstration library update mechanism which learned from success allows it to generalize to previously failed tasks. We validate the framework in the Long-horizon Desktop Implicative Placement (LDIP) dataset across various baseline models, where Triple-S successfully executes 89% of tasks in both observable and partially observable scenarios. Experiments in both simulation and real-world robot settings further validated the effectiveness of Triple-S. Our code and dataset is available at: https://github.com/Ghbbbbb/Triple-S.