Abstract
Traditional robot simulators focus on physical process modeling and realistic rendering, often suffering from high computational costs, inefficiencies, and limited adaptability. To handle this issue, we concentrate on behavior simulation in robotics to analyze and validate the logic behind robot behaviors, aiming to achieve preliminary evaluation before deploying resource-intensive simulators and thus enhance simulation efficiency. In this paper, we propose BeSimulator, a modular and novel LLM-powered framework, as an attempt towards behavior simulation in the context of text-based environments. By constructing text-based virtual environments and performing semantic-level simulation, BeSimulator can generalize across scenarios and achieve long-horizon complex simulation. Inspired by human cognition paradigm, it employs a ``consider-decide-capture-transfer'' four-phase simulation process, termed Chain of Behavior Simulation (CBS), which excels at analyzing action feasibility and state t