Semantic Intelligence: Integrating GPT-4 with A Planning in Low-Cost Robotics

TL;DR

This paper presents a hybrid robot navigation system combining GPT-4's semantic reasoning with traditional A* path planning, enabling low-cost robots to interpret high-level instructions and environmental cues for more intelligent navigation.

Contribution

It introduces a novel framework integrating GPT-4 with A* for semantic-aware navigation on low-cost robots without explicit FSM coding or fine-tuning.

Findings

GPT-4 can perform multi-step reasoning for sequential tasks.

The hybrid system achieves 96-100% success on semantic navigation tasks.

A* remains superior in speed and basic obstacle avoidance.

Abstract

Classical robot navigation often relies on hardcoded state machines and purely geometric path planners, limiting a robot's ability to interpret high-level semantic instructions. In this paper, we first assess GPT-4's ability to act as a path planner compared to the A* algorithm, then present a hybrid planning framework that integrates GPT-4's semantic reasoning with A* on a low-cost robot platform operating on ROS2 Humble. Our approach eliminates explicit finite state machine (FSM) coding by using prompt-based GPT-4 reasoning to handle task logic while maintaining the accurate paths computed by A*. The GPT-4 module provides semantic understanding of instructions and environmental cues (e.g., recognizing toxic obstacles or crowded areas to avoid, or understanding low-battery situations requiring alternate route selection), and dynamically adjusts the robot's occupancy grid via obstacle buffering to enforce semantic constraints. We demonstrate multi-step reasoning for sequential tasks, such as first navigating to a resource goal and then reaching a final destination safely. Experiments on a Petoi Bittle robot with an overhead camera and Raspberry Pi Zero 2W compare classical A* against GPT-4-assisted planning. Results show that while A* is faster and more accurate for basic route generation and obstacle avoidance, the GPT-4-integrated system achieves high success rates (96-100%) on semantic tasks that are infeasible for pure geometric planners. This work highlights how affordable robots can exhibit intelligent, context-aware behaviors by leveraging large language model reasoning with minimal hardware and no fine-tuning.