LLM-MARS: Large Language Model for Behavior Tree Generation and NLP-enhanced Dialogue in Multi-Agent Robot Systems
Paper • 2312.09348 • Published • 2
id stringlengths 5 5 | batch_id stringclasses 6
values | position_in_batch int64 1 10 | prompt_file stringclasses 6
values | command stringlengths 15 144 | generated_xml stringlengths 143 476 | generation_notes stringlengths 0 210 |
|---|---|---|---|---|---|---|
BT001 | BT_01 | 1 | prompts/BT_01.txt | Collect 1 cake from quadrant 1. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT002 | BT_01 | 2 | prompts/BT_01.txt | Deliver the cake from quadrant 1 to base 5. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="UnloadCakes" base="5" need_sort="False"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT003 | BT_01 | 3 | prompts/BT_01.txt | Collect 1 cake from quadrant 2. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_2"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT004 | BT_01 | 4 | prompts/BT_01.txt | Deliver the cake from quadrant 2 to base 3. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_2"/><SubTree ID="UnloadCakes" base="3" need_sort="False"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT005 | BT_01 | 5 | prompts/BT_01.txt | Collect 1 cake from quadrant 3. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_3"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT006 | BT_01 | 6 | prompts/BT_01.txt | Deliver the cake from quadrant 3 to base 7. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_3"/><SubTree ID="UnloadCakes" base="7" need_sort="False"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT007 | BT_01 | 7 | prompts/BT_01.txt | Collect 1 pink cake from quadrant 4. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="pink_from_quadrant_4"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT008 | BT_01 | 8 | prompts/BT_01.txt | Deliver the cake from quadrant 4 to base 2. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_4"/><SubTree ID="UnloadCakes" base="2" need_sort="False"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT009 | BT_01 | 9 | prompts/BT_01.txt | Collect 3 cakes from quadrant 1. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_1" cake2="pink_from_quadrant_1" cake3="yellow_from_quadrant_1"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT010 | BT_01 | 10 | prompts/BT_01.txt | Deliver the cakes from quadrant 1 to base 6. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_1" cake2="pink_from_quadrant_1" cake3="yellow_from_quadrant_1"/><SubTree ID="UnloadCakes" base="6" need_sort="False"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT011 | BT_02 | 1 | prompts/BT_02.txt | Collect 3 cakes from quadrant 2. Sort the cakes. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_2" cake2="brown_from_quadrant_2" cake3="brown_from_quadrant_2"/><SubTree ID="UnloadCakes" base="1" need_sort="True"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | Sorting is available only as part of unloading; no unloading base was specified, so base 1 was chosen. |
BT012 | BT_02 | 2 | prompts/BT_02.txt | Deliver the cakes from quadrant 2 to base 4. Conclude the game at base 9. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_2" cake2="brown_from_quadrant_2" cake3="brown_from_quadrant_2"/><SubTree ID="UnloadCakes" base="4" need_sort="False"/><SubTree ID="FinishGame" finish_base="9"/></SequenceStar></BehaviorTree> | |
BT013 | BT_02 | 3 | prompts/BT_02.txt | Collect 3 brown cakes. Unload the cakes at base 8. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_1" cake2="brown_from_quadrant_1" cake3="brown_from_quadrant_1"/><SubTree ID="UnloadCakes" base="8" need_sort="False"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT014 | BT_02 | 4 | prompts/BT_02.txt | Deliver the cakes from quadrant 3 to base 5. collect cherries from holder 4. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_3" cake2="brown_from_quadrant_3" cake3="brown_from_quadrant_3"/><SubTree ID="UnloadCakes" base="5" need_sort="False"/><SubTree ID="CollectCheries" holder="4"/><SubTree ID="FinishGame" finish_... | |
BT015 | BT_02 | 5 | prompts/BT_02.txt | Collect 3 cakes from quadrant 4. finish at base 1. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_4" cake2="brown_from_quadrant_4" cake3="brown_from_quadrant_4"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT016 | BT_02 | 6 | prompts/BT_02.txt | Deliver the cakes from quadrant 4 to base 7. Collect cherries from holder 3. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_4" cake2="brown_from_quadrant_4" cake3="brown_from_quadrant_4"/><SubTree ID="UnloadCakes" base="7" need_sort="False"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="FinishGame" finish_... | |
BT017 | BT_02 | 7 | prompts/BT_02.txt | Collect 1 cake from quadrant 1. Collect cherries from holder 2. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="CollectCheries" holder="2"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT018 | BT_02 | 8 | prompts/BT_02.txt | Deliver the cake from quadrant 1 to base 10. finish at base 3. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="UnloadCakes" base="10" need_sort="False"/><SubTree ID="FinishGame" finish_base="3"/></SequenceStar></BehaviorTree> | |
BT019 | BT_02 | 9 | prompts/BT_02.txt | Collect cakes from quadrant 2. Sort the cakes. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_2" cake2="brown_from_quadrant_2" cake3="brown_from_quadrant_2"/><SubTree ID="UnloadCakes" base="1" need_sort="True"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | Sorting is available only as part of unloading; no unloading base was specified, so base 1 was chosen. |
BT020 | BT_02 | 10 | prompts/BT_02.txt | Deliver the cake from quadrant 2 to base 6. Collect cherries from holder 1. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_2"/><SubTree ID="UnloadCakes" base="6" need_sort="False"/><SubTree ID="CollectCheries" holder="1"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT021 | BT_03 | 1 | prompts/BT_03.txt | Collect 1 cake from quadrant 3. Steal 3 cherries from holder 2. Finish at base 4. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_3"/><SubTree ID="CollectCheries" holder="2"/><SubTree ID="FinishGame" finish_base="4"/></SequenceStar></BehaviorTree> | Stealing cherries and specifying a count of 3 cherries are not supported. CollectCheries collects from holder 2 without a count. |
BT022 | BT_03 | 2 | prompts/BT_03.txt | Deliver the cake from quadrant 3 to base 9. Unload the cake at base 2. Conclude the game at base 2. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_3"/><SubTree ID="UnloadCakes" base="9" need_sort="False"/><SubTree ID="UnloadCakes" base="2" need_sort="False"/><SubTree ID="FinishGame" finish_base="2"/></SequenceStar></BehaviorTree> | The same cake cannot be delivered to base 9 and then unloaded at base 2. The second unload may have no cake. |
BT023 | BT_03 | 3 | prompts/BT_03.txt | Collect 3 cakes from quadrant 4. Collect cherries from holder 1. Finish at base 5. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_4" cake2="pink_from_quadrant_4" cake3="yellow_from_quadrant_4"/><SubTree ID="CollectCheries" holder="1"/><SubTree ID="FinishGame" finish_base="5"/></SequenceStar></BehaviorTree> | |
BT024 | BT_03 | 4 | prompts/BT_03.txt | Deliver the cakes from quadrant 4 to base 10. Sort the cakes. Collect cherries from holder 3. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_4" cake2="pink_from_quadrant_4" cake3="yellow_from_quadrant_4"/><SubTree ID="UnloadCakes" base="10" need_sort="True"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="FinishGame" finish_... | |
BT025 | BT_03 | 5 | prompts/BT_03.txt | Collect 1 cake from quadrant 1. Collect cherries from holder 4. Finish at base 6. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="CollectCheries" holder="4"/><SubTree ID="FinishGame" finish_base="6"/></SequenceStar></BehaviorTree> | |
BT026 | BT_03 | 6 | prompts/BT_03.txt | Collect 1 cake from quadrant 2, Collect cherries from holder 3, and stop at base 2. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_2"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="FinishGame" finish_base="2"/></SequenceStar></BehaviorTree> | |
BT027 | BT_03 | 7 | prompts/BT_03.txt | Collect 3 cakes from quadrant 1, sort the cakes, and deliver them to base 5. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_1" cake2="pink_from_quadrant_1" cake3="yellow_from_quadrant_1"/><SubTree ID="UnloadCakes" base="5" need_sort="True"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT028 | BT_03 | 8 | prompts/BT_03.txt | Collect 1 cake from quadrant 2, Collect cherries from holder 3, and finish at base 4. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_2"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="FinishGame" finish_base="4"/></SequenceStar></BehaviorTree> | |
BT029 | BT_03 | 9 | prompts/BT_03.txt | Collect 3 cakes from quadrant 3, unload them at base 7, and conclude the game at base 2. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_3" cake2="pink_from_quadrant_3" cake3="yellow_from_quadrant_3"/><SubTree ID="UnloadCakes" base="7" need_sort="False"/><SubTree ID="FinishGame" finish_base="2"/></SequenceStar></BehaviorTree> | |
BT030 | BT_03 | 10 | prompts/BT_03.txt | Collect 1 cake from quadrant 1, Collect cherries from holder 4, and finish at base 8. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="CollectCheries" holder="4"/><SubTree ID="FinishGame" finish_base="8"/></SequenceStar></BehaviorTree> | |
BT031 | BT_04 | 1 | prompts/BT_04.txt | Collect 1 cake from quadrant 3, collect cherries from holder 1, finish at base 4, and conclude the game at base 9. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_3"/><SubTree ID="CollectCheries" holder="1"/><SubTree ID="FinishGame" finish_base="9"/></SequenceStar></BehaviorTree> | The request to finish at base 4 conflicts with concluding the game at base 9; the final conclusion uses base 9. |
BT032 | BT_04 | 2 | prompts/BT_04.txt | Collect 3 cakes from quadrant 4, sort the cakes, deliver it to base 2, and collect cherries from holder 3. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_4" cake2="pink_from_quadrant_4" cake3="yellow_from_quadrant_4"/><SubTree ID="UnloadCakes" base="2" need_sort="True"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="FinishGame" finish_b... | Sorting is available only as part of unloading, so it occurs at base 2 rather than before delivery. |
BT033 | BT_04 | 3 | prompts/BT_04.txt | Collect 3 cakes from quadrant 1, unload them at base 6, finish at base 5, and conclude the game at base 8. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_1" cake2="pink_from_quadrant_1" cake3="yellow_from_quadrant_1"/><SubTree ID="UnloadCakes" base="6" need_sort="False"/><SubTree ID="FinishGame" finish_base="8"/></SequenceStar></BehaviorTree> | The request to finish at base 5 conflicts with concluding the game at base 8; the final conclusion uses base 8. |
BT034 | BT_04 | 4 | prompts/BT_04.txt | Collect 3 cakes from quadrant 2, collect cherries from holder 4, take them to base 3, and sort the cakes. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_2" cake2="pink_from_quadrant_2" cake3="yellow_from_quadrant_2"/><SubTree ID="CollectCheries" holder="4"/><SubTree ID="UnloadCakes" base="3" need_sort="True"/><SubTree ID="FinishGame" finish_b... | Sorting occurs as part of unloading at base 3; the interface has no separate sort action. |
BT035 | BT_04 | 5 | prompts/BT_04.txt | Collect 3 cakes from quadrant 3, finish at base 1, collect cherries from holder 2, and unload the cakes at base 7. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_3" cake2="pink_from_quadrant_3" cake3="yellow_from_quadrant_3"/><SubTree ID="CollectCheries" holder="2"/><SubTree ID="UnloadCakes" base="7" need_sort="False"/><SubTree ID="FinishGame" finish_... | Finishing at base 1 must occur last, so the requested order places it after cherry collection and unloading. |
BT036 | BT_04 | 6 | prompts/BT_04.txt | Collect 3 cakes from quadrant 4, sort the cakes, collect cherries from holder 1, finish at base 10, and conclude the game at base 4. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_4" cake2="pink_from_quadrant_4" cake3="yellow_from_quadrant_4"/><SubTree ID="UnloadCakes" base="10" need_sort="True"/><SubTree ID="CollectCheries" holder="1"/><SubTree ID="FinishGame" finish_... | Sorting requires unloading, so cakes are unloaded at base 10. Finishing at base 10 before collecting cherries conflicts with the later actions and final conclusion at base 4. |
BT037 | BT_04 | 7 | prompts/BT_04.txt | Collect 1 cake from quadrant 1, collect cherries from holder 3, finish at base 9, unload the cake at base 2. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="UnloadCakes" base="2" need_sort="False"/><SubTree ID="FinishGame" finish_base="9"/></SequenceStar></BehaviorTree> | Finishing at base 9 must occur last, so unloading at base 2 occurs before it. |
BT038 | BT_04 | 8 | prompts/BT_04.txt | Collect 3 cakes from quadrant 2, sort the cakes, deliver it to base 7, and collect cherries from holder 4. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_2" cake2="pink_from_quadrant_2" cake3="yellow_from_quadrant_2"/><SubTree ID="UnloadCakes" base="7" need_sort="True"/><SubTree ID="CollectCheries" holder="4"/><SubTree ID="FinishGame" finish_b... | Sorting is available only as part of unloading, so it occurs at base 7 rather than before delivery. |
BT039 | BT_04 | 9 | prompts/BT_04.txt | Collect 3 cakes from quadrant 3, unload them at base 5, steal 3 cherries from holder 2, and finish at base 3. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_3" cake2="pink_from_quadrant_3" cake3="yellow_from_quadrant_3"/><SubTree ID="UnloadCakes" base="5" need_sort="False"/><SubTree ID="CollectCheries" holder="2"/><SubTree ID="FinishGame" finish_... | Stealing three cherries is not supported. CollectCheries collects from holder 2 without a count port, while TryToSteal applies only to cakes. |
BT040 | BT_04 | 10 | prompts/BT_04.txt | Collect 3 cakes from quadrant 4, collect cherries from holder 1, take them to base 6, and sort the cakes. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_4" cake2="pink_from_quadrant_4" cake3="yellow_from_quadrant_4"/><SubTree ID="CollectCheries" holder="1"/><SubTree ID="UnloadCakes" base="6" need_sort="True"/><SubTree ID="FinishGame" finish_b... | Sorting occurs as part of unloading at base 6; the interface has no separate sort action. |
BT041 | BT_05 | 1 | prompts/BT_05.txt | Collect 1 cake from quadrant 1, collect cherries from holder 2, finish at base 4, unload the cake at base 8. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="CollectCheries" holder="2"/><SubTree ID="UnloadCakes" base="8" need_sort="False"/><SubTree ID="FinishGame" finish_base="4"/></SequenceStar></BehaviorTree> | The requested finish precedes unloading; unloading is placed before FinishGame because finishing must end the tree. |
BT042 | BT_05 | 2 | prompts/BT_05.txt | Collect 3 cakes from quadrant 2, sort the cakes, deliver it to base 3, collect cherries from holder 3, and finish at base 7. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_2" cake2="pink_from_quadrant_2" cake3="yellow_from_quadrant_2"/><SubTree ID="UnloadCakes" base="3" need_sort="True"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="FinishGame" finish_b... | Sorting is available as part of unloading, rather than as a separate action before delivery. |
BT043 | BT_05 | 3 | prompts/BT_05.txt | Collect 3 cakes from quadrant 3, unload them at base 6, collect cherries from holder 4, take them to base 2, and sort the cakes. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_3" cake2="pink_from_quadrant_3" cake3="yellow_from_quadrant_3"/><SubTree ID="UnloadCakes" base="6" need_sort="True"/><SubTree ID="CollectCheries" holder="4"/><SubTree ID="FinishGame" finish_b... | Sorting is folded into the cake unload at base 6 despite being requested later. There is no skill for unloading cherries at base 2, so FinishGame parks there. |
BT044 | BT_05 | 4 | prompts/BT_05.txt | Collect 3 cakes from quadrant 4, collect cherries from holder 1, finish at base 10, sort the cakes, and conclude the game at base 5. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_4" cake2="pink_from_quadrant_4" cake3="yellow_from_quadrant_4"/><SubTree ID="CollectCheries" holder="1"/><SubTree ID="UnloadCakes" base="10" need_sort="True"/><SubTree ID="FinishGame" finish_... | The command names both base 10 and base 5 as finish locations. The final conclusion at base 5 is used for FinishGame; base 10 is used for sorted unloading. |
BT045 | BT_05 | 5 | prompts/BT_05.txt | Collect 1 cake from quadrant 1, collect cherries from holder 3, finish at base 9, unload the cake at base 4, and collect cherries from holder 2. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="UnloadCakes" base="4" need_sort="False"/><SubTree ID="CollectCheries" holder="2"/><SubTree ID="FinishGame" finish_base="9"/></SequenceSt... | The requested finish precedes unloading and another cherry collection; FinishGame is moved to the end. |
BT046 | BT_05 | 6 | prompts/BT_05.txt | Collect 3 cakes from quadrant 2, sort the cakes, deliver it to base 7, collect cherries from holder 4, and take 2 cakes from quadrant 1. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_2" cake2="pink_from_quadrant_2" cake3="yellow_from_quadrant_2"/><SubTree ID="UnloadCakes" base="7" need_sort="True"/><SubTree ID="CollectCheries" holder="4"/><SubTree ID="CollectOneCake" cake... | Sorting is performed during unloading at base 7. Two cakes are collected using two CollectOneCake actions. No finish location was requested, so base 1 is used. |
BT047 | BT_05 | 7 | prompts/BT_05.txt | Collect 3 cakes from quadrant 3, collect cherries from holder 2, finish at base 5, unload them at base 3, and steal 1 cake from quadrant 4. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_3" cake2="pink_from_quadrant_3" cake3="yellow_from_quadrant_3"/><SubTree ID="CollectCheries" holder="2"/><SubTree ID="UnloadCakes" base="3" need_sort="False"/><SubTree ID="TryToSteal" unload_... | The requested finish precedes unloading and stealing; FinishGame is moved to the end. TryToSteal cannot specify quadrant 4, so the steal source remains unresolved; base 3 is chosen for its required unload_base. |
BT048 | BT_05 | 8 | prompts/BT_05.txt | Collect 3 cakes from quadrant 4, collect cherries from holder 1, take them to base 6, sort the cakes, and finish at base 2. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_4" cake2="pink_from_quadrant_4" cake3="yellow_from_quadrant_4"/><SubTree ID="CollectCheries" holder="1"/><SubTree ID="UnloadCakes" base="6" need_sort="True"/><SubTree ID="FinishGame" finish_b... | Sorting is performed as part of unloading at base 6. There is no separate action to deliver cherries to base 6. |
BT049 | BT_05 | 9 | prompts/BT_05.txt | Collect 1 cake from quadrant 1, collect cherries from holder 4, finish at base 8, unload the cake at base 5, and collect cherries from holder 3. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="CollectCheries" holder="4"/><SubTree ID="UnloadCakes" base="5" need_sort="False"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="FinishGame" finish_base="8"/></SequenceSt... | The requested finish precedes unloading and another cherry collection; FinishGame is moved to the end. |
BT050 | BT_05 | 10 | prompts/BT_05.txt | Collect 3 cakes from quadrant 2, sort the cakes, deliver it to base 3, collect cherries from holder 2, and finish at base 1. | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_2" cake2="pink_from_quadrant_2" cake3="yellow_from_quadrant_2"/><SubTree ID="UnloadCakes" base="3" need_sort="True"/><SubTree ID="CollectCheries" holder="2"/><SubTree ID="FinishGame" finish_b... | Sorting is available as part of unloading, rather than as a separate action before delivery. |
BT051 | BT_06 | 1 | prompts/BT_06.txt | Collect 3 cakes | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectTreeCakes" cake1="brown_from_quadrant_1" cake2="pink_from_quadrant_1" cake3="yellow_from_quadrant_1"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT052 | BT_06 | 2 | prompts/BT_06.txt | collect cherries from holder 2 | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectCheries" holder="2"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT053 | BT_06 | 3 | prompts/BT_06.txt | finish at base 4 | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="FinishGame" finish_base="4"/></SequenceStar></BehaviorTree> | |
BT054 | BT_06 | 4 | prompts/BT_06.txt | unload the cake at base 5 | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="UnloadCakes" base="5" need_sort="False"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | The interface has no preloaded-cake state, so one supported cake is collected before unloading the requested cake. |
BT055 | BT_06 | 5 | prompts/BT_06.txt | steal from quadrant 4 | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="TryToSteal" unload_base="1" number_of_steals="1"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | TryToSteal has no source-quadrant port, so the request to steal from quadrant 4 cannot be guaranteed; one steal and unload base 1 were chosen. |
BT056 | BT_06 | 6 | prompts/BT_06.txt | collect cherries from holder 3 | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectCheries" holder="3"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | |
BT057 | BT_06 | 7 | prompts/BT_06.txt | finish at base 5 | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="FinishGame" finish_base="5"/></SequenceStar></BehaviorTree> | |
BT058 | BT_06 | 8 | prompts/BT_06.txt | unload the cake at base 3 | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectOneCake" cake="brown_from_quadrant_1"/><SubTree ID="UnloadCakes" base="3" need_sort="False"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | The interface has no preloaded-cake state, so one supported cake is collected before unloading the requested cake. |
BT059 | BT_06 | 9 | prompts/BT_06.txt | steal from quadrant 1 | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="TryToSteal" unload_base="1" number_of_steals="1"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> | TryToSteal has no source-quadrant port, so the request to steal from quadrant 1 cannot be guaranteed; one steal and unload base 1 were chosen. |
BT060 | BT_06 | 10 | prompts/BT_06.txt | collect cherries from holder 1 | <BehaviorTree ID="BehaviorTree"><SequenceStar><SubTree ID="StartGame"/><SubTree ID="CollectCheries" holder="1"/><SubTree ID="FinishGame" finish_base="1"/></SequenceStar></BehaviorTree> |
LLM-MARS Contemporary Evaluation
Inputs, generated outputs, and task prompts for the contemporary-model evaluation of LLM-MARS.
- Behavior-tree generation: 60 commands with generated XML trees in
data/bt_generation.jsonl. - Question answering: 50 context–question records with generated answers in
data/question_answering.jsonl; 35 distinct inputs after normalization. - Task prompts: six BT batches and five QA batches of ten records, in
prompts/BT_01.txt–BT_06.txtandprompts/QA_01.txt–QA_05.txt.
The configured model was gpt-6-sol, evaluated without task-specific fine-tuning or solved examples. Batches BT_01–BT_05 and QA_01–QA_05 were generated on 21 October 2026; BT_06 was generated on 24 October 2026. These are the first saved outputs for the supplied inputs. Each task is a separate configuration with a test split. Expert assessment tables are not included.
Fields
Both tasks provide id, batch_id, position_in_batch, and prompt_file.
Behavior-tree records contain command, generated_xml, and generation_notes. Notes are part of the generated response, not expert assessments. Historical skill names are preserved.
Question-answering records contain context_and_question, generated_answer, and input_group_id. Group IDs identify repeated inputs after text.strip().strip('"').strip() normalization; original strings are unchanged.
Only local output paths in the task prompts are replaced with {output_json_path}. The release covers task prompts and input/output records, rather than a complete runtime configuration.
Related datasets and license
Licensed under CC BY 4.0.
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