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cs.RO2026
Multimodal Behavior Tree Generation: A Small Vision-Language Model for Robot Task Planning
Cristiano Battistini, Riccardo Andrea Izzo, Gianluca Bardaro +1
Large and small language models have been widely used for robotic task planning. At the same time, vision-language models (VLMs) have successfully tackled problems such as image ca…
cs.RO2026
BTGenBot-2: Efficient Behavior Tree Generation with Small Language Models
Riccardo Andrea Izzo, Gianluca Bardaro, Matteo Matteucci
Recent advances in robot learning increasingly rely on LLM-based task planning, leveraging their ability to bridge natural language with executable actions. While prior works showc…
cs.RO2025
BTGenBot: Behavior Tree Generation for Robotic Tasks with Lightweight LLMs
Riccardo Andrea Izzo, Gianluca Bardaro, Matteo Matteucci
This paper presents a novel approach to generating behavior trees for robots using lightweight large language models (LLMs) with a maximum of 7 billion parameters. The study demons…