Empirical evaluations show that GRASP consistently establishes a new state-of-the-art frontier across diverse datasets, yielding substantial accuracy gains over direct LLM planners on Natural Plan Calendar Scheduling, ZebraLogic, and SciBench Math.
Abstract
Large Language Models (LLMs) typically exhibit a performance profile where reliability degrades as task complexity increases. We address the challenge of generating high-quality natural language executable plans for complex tasks by introducing $\textbf{GRASP}$, a strategy-aware, multi-stage planning framework. GRASP decouples the planning pipeline across specialized, context-isolated modules: it pre-compiles global macro-guidelines (GenPlan), explores alternative localized strategies within isolated context windows (RevPlan), and independently evaluates trajectories using a multi-criteria discriminator (VerPlan). Empirical evaluations show that GRASP consistently establishes a new state-of-the-art frontier across diverse datasets, yielding substantial accuracy gains over direct LLM planners on Natural Plan Calendar Scheduling ($\sim$12.4$\%$$\uparrow$), ZebraLogic ($\sim$30.8$\%$$\uparrow$), and SciBench Math. Crucially, under multi-task scaling-where standard planners suffer immediate performance collapse-GRASP completely flattens the multi-task degradation penalty. In interleaved dual-task environments, GRASP achieves an absolute accuracy gain of up to 16.7$\%$ over direct LLM planners. Furthermore, by isolating context and enforcing strict macro-regularization, GRASP outperforms frontier reasoning models (such as GPT-5-mini) by a margin of 14.5$\%$.
SAGE (Symbolic Action-Gating and Editing), a single-LLM planner built from two lightweight mechanisms: a domain-agnostic symbolic gate that blocks precondition-violating actions with typed reasons as a runtime safety monitor, and a local edit that regenerates only the failed sub-goal's suffix, keeping completed and unt...
T. Bui, Jongsul Moon, Youngouk Kim et al.· 0 citations
CodeActionBench is introduced, a benchmark of 25 manipulation tasks that evaluates this capability through agentic Code-as-Policy and provides a controlled testbed for measuring how general-purpose models translate their capabilities into manipulation behavior and for examining typical failure scenarios in that process...
Yiheng Lyu, Xueying Jiang, Wen-Hao Li et al.· 0 citations
Current open-weight models cannot guarantee satisfaction of the test constraints required for reliable automated model repair, and this paper evaluates the ability of recent open-weight large language models to perform this repair task using an LLM-only approach.
Improvements show that an explicit graph world model harness can substantially improve the reliability and efficiency of long-horizon embodied planning across compact and frontier hosted LLM capabilities.
Rui-Yang Wang, Hao-Lun Hsu, S. Mehta et al.· 0 citations
Across in-domain and distribution-shifted settings, allocating additional test-time computation substantially improves next-subtask prediction accuracy, and these gains translate into higher closed-loop success on long-horizon robot manipulation tasks.
To test whether the taxonomy supports mitigation, TART, Taxonomy-Guided Actionable Representation, is introduced that makes the taxonomy's key aspects explicit to the planner and downstream sub-agents and consistently improves performance.
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