Fuente: WIPO "tomato" Disclosed herein is an apparatus and method for performing robot task planning based on a large language model. The method may include setting a tree structure in which a natural language goal for the entire task to be performed by a robot is set as an execution node, generating a query corresponding to the natural language goal of the execution node in the tree structure, and selecting and performing, in response to the generated query, either an action (ACT) type for performing a physical action of the robot based on a large language model or an expansion (EXPAND) type for setting subgoals.