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| Main Authors: | , , |
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| Format: | Preprint |
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2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2601.21841 |
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| _version_ | 1866911691434885120 |
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| author | Li, Xiang Yan, Ning Mortazavi, Masood |
| author_facet | Li, Xiang Yan, Ning Mortazavi, Masood |
| contents | While Large Language Models (LLMs) have demonstrated strong zero-shot reasoning capabilities, their deployment as embodied agents still faces fundamental challenges in long-horizon planning. Unlike open-ended text generation, embodied agents must decompose high-level intents into actionable sub-goals while adhering to the constraints of a dynamic environment. Standard LLM planners frequently fail to maintain strategy coherence over extended horizons due to context window limitations or hallucinate state transitions that violate environment constraints. We propose GiG, a planning framework that structures embodied agents' memory using a Graph-in-Graph architecture. Our approach employs a Graph Neural Network (GNN) to encode environmental states into embeddings, organizing these embeddings into action-connected execution trace graphs within an experience memory bank. GiG enables retrieval of structurally-similar priors, allowing agents to ground current decisions in relevant past structural patterns. Furthermore, we introduce a bounded lookahead module that leverages symbolic transition logic to enhance the agent's planning capabilities through grounded action projections. We evaluate our framework on three embodied planning benchmarks-Robotouille Synchronous, Robotouille Asynchronous, and ALFWorld. Our method outperforms state-of-the-art baselines, achieving Pass@1 performance gains of up to 22% on Robotouille Synchronous, 37% on Asynchronous, and 15% on ALFWorld while maintaining comparable or lower computational cost. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_21841 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Embodied Task Planning via Graph-Informed Action Generation with Large Language Models Li, Xiang Yan, Ning Mortazavi, Masood Computation and Language While Large Language Models (LLMs) have demonstrated strong zero-shot reasoning capabilities, their deployment as embodied agents still faces fundamental challenges in long-horizon planning. Unlike open-ended text generation, embodied agents must decompose high-level intents into actionable sub-goals while adhering to the constraints of a dynamic environment. Standard LLM planners frequently fail to maintain strategy coherence over extended horizons due to context window limitations or hallucinate state transitions that violate environment constraints. We propose GiG, a planning framework that structures embodied agents' memory using a Graph-in-Graph architecture. Our approach employs a Graph Neural Network (GNN) to encode environmental states into embeddings, organizing these embeddings into action-connected execution trace graphs within an experience memory bank. GiG enables retrieval of structurally-similar priors, allowing agents to ground current decisions in relevant past structural patterns. Furthermore, we introduce a bounded lookahead module that leverages symbolic transition logic to enhance the agent's planning capabilities through grounded action projections. We evaluate our framework on three embodied planning benchmarks-Robotouille Synchronous, Robotouille Asynchronous, and ALFWorld. Our method outperforms state-of-the-art baselines, achieving Pass@1 performance gains of up to 22% on Robotouille Synchronous, 37% on Asynchronous, and 15% on ALFWorld while maintaining comparable or lower computational cost. |
| title | Embodied Task Planning via Graph-Informed Action Generation with Large Language Models |
| topic | Computation and Language |
| url | https://arxiv.org/abs/2601.21841 |