LEO-RobotAgent：面向语言驱动具身操作的通用机器人代理

LEO-RobotAgent: A General-purpose Robotic Agent for Language-driven Embodied Operator

December 11, 2025

作者: Lihuang Chen, Xiangyu Luo, Jun Meng

cs.AI

摘要

我们提出LEO-RobotAgent——一种面向机器人的通用语言驱动智能体框架。该框架可使大语言模型操作不同类型机器人，在多样化场景中完成不可预知的复杂任务，具有强泛化性、鲁棒性和高效性特点。围绕该框架构建的应用级系统能全面增强双向人机意图理解，降低人机交互门槛。在机器人任务规划方面，现有研究大多聚焦大模型在单任务场景和单一机器人类型中的应用，这些算法往往结构复杂且缺乏普适性。因此，我们设计的LEO-RobotAgent框架尽可能采用精简结构，使大模型能在清晰框架内自主思考、规划与执行。我们提供模块化且易于注册的工具集，允许大模型灵活调用各类工具以满足不同需求。同时框架引入人机交互机制，使算法能像合作伙伴般与人类协同工作。实验验证表明，该框架可轻松适配包括无人机、机械臂和轮式机器人在内的主流机器人平台，并能高效执行多种精心设计的不同复杂度任务。代码已开源：https://github.com/LegendLeoChen/LEO-RobotAgent。

English

We propose LEO-RobotAgent, a general-purpose language-driven intelligent agent framework for robots. Under this framework, LLMs can operate different types of robots to complete unpredictable complex tasks across various scenarios. This framework features strong generalization, robustness, and efficiency. The application-level system built around it can fully enhance bidirectional human-robot intent understanding and lower the threshold for human-robot interaction. Regarding robot task planning, the vast majority of existing studies focus on the application of large models in single-task scenarios and for single robot types. These algorithms often have complex structures and lack generalizability. Thus, the proposed LEO-RobotAgent framework is designed with a streamlined structure as much as possible, enabling large models to independently think, plan, and act within this clear framework. We provide a modular and easily registrable toolset, allowing large models to flexibly call various tools to meet different requirements. Meanwhile, the framework incorporates a human-robot interaction mechanism, enabling the algorithm to collaborate with humans like a partner. Experiments have verified that this framework can be easily adapted to mainstream robot platforms including unmanned aerial vehicles (UAVs), robotic arms, and wheeled robot, and efficiently execute a variety of carefully designed tasks with different complexity levels. Our code is available at https://github.com/LegendLeoChen/LEO-RobotAgent.