An example of generated hierarchical LTL specifications

Task instructions:

First Put the clean spatula in the drawer and put a pepper shaker in the kitchen cabinet in any order. After putting the spatula and the pepper shakers, rinse an apple to put it in the microwave. Finally, wash the spoon on the counter and place it on a plate.

HTT:

1. p0 Perform tasks

   1. p101 Place kitchen utensils

      1. p104 Put the clean spatula in the drawer

      2. p105 put a pepper shaker in the kitchen cabinet

   2. p102 Prepare apple for microwave

      1. p106 Rinse an apple and put the rinsed apple in the microwave

   3. p103 Clean and rearrange utensils

      1. p107 Wash the spoon on the counter and place the washed spoon on a plate

Possible output from LLM:

    [
        {
            "p0":"<> ( p101 && ( <> ( p102 && <> p103 ) ) )"
        },
        {
            "p101":"( <> p104 ) && ( <> p105 )",
            "p102":"<> p106",
            "p103":"<> p107"
        },
        {
            "p104":"<> ( p108 && <> p109 )",
            "p105":"<> ( p110 && <> p111 )",
            "p106":"<> ( p112 && <> ( p113 && <> p114 ) )",
            "p107":"<> ( p115 && <> ( p116 && <> p117 ) )"
        },
        {
            "p108":[
                "find_object_by_state(spatula, ['cleaned'])",
                "move_to(spatula)",
                "pickup_object(spatula)"
                ], 
            "p109":[
                "move_to(drawer)",
                "open_object(drawer)",
                "place_object(spatula, drawer)",
                "close_object(drawer)"
                ],
            "p110":[
                "find_object_by_state(pepper_shaker, [])",
                "move_to(pepper_shaker)",
                "pickup_object(pepper_shaker)"
                ],
            "p111":[
                "find_object_by_state(cabinet, [])",
                "move_to(cabinet)",
                "place_object(peppershaker, cabinet)"
                ],
            "p112":[
                "find_object_by_state(apple, [])",
                "move_to(apple)",
                "pickup_object(apple)"
                ],
            "p113":[
                "find_object_by_state(sink, [])",
                "move_to(sink)",
                "place_object(apple, sink)",
                "find_object_by_state(apple, [rinsed])",
                "pickup_object(apple)"
                ],
            "p114":[
                "find_object_by_state(microwave, [])",
                "move_to(microwave)",
                "open_object(microwave)",
                "place_object(apple)",
                "close_object(microwave)"
                ],
            "p115":[
                "find_object_by_state(spoon, [])",
                "move_to(spoon)",
                "pickup_object(spoon)"
                ],
            "p116":[
                "find_object_by_state(sink, [])",
                "move_to(sink)",
                "place_object(spoon, sink)",
                "pickup_object(spoon)"
                ],
            "p117":[
                "find_object_by_state(plate, [])",
                "move_to(plate)",
                "place_object(apple,plate)"
                ]
        }
    ]