id sid tid token lemma pos bracis-33588 1 1 improving improve VERB bracis-33588 1 2 llms llm NOUN bracis-33588 1 3 ’ ' PUNCT bracis-33588 1 4 reasoning reasoning NOUN bracis-33588 1 5 and and CCONJ bracis-33588 1 6     SPACE bracis-33588 1 7 planning plan VERB bracis-33588 1 8 with with ADP bracis-33588 1 9     SPACE bracis-33588 1 10 finite finite ADJ bracis-33588 1 11 - - ADJ bracis-33588 1 12 state state ADJ bracis-33588 1 13 machines machine NOUN bracis-33588 1 14 | | ADV bracis-33588 1 15 springer springer NOUN bracis-33588 1 16 nature nature PROPN bracis-33588 1 17 link link PROPN bracis-33588 1 18 ( ( PUNCT bracis-33588 1 19 formerly formerly ADV bracis-33588 1 20 springerlink springerlink NOUN bracis-33588 1 21 ) ) PUNCT bracis-33588 1 22 skip skip VERB bracis-33588 1 23 to to ADP bracis-33588 1 24 main main ADJ bracis-33588 1 25 content content NOUN bracis-33588 1 26 advertisement advertisement NOUN bracis-33588 1 27 log log NOUN bracis-33588 1 28 in in ADP bracis-33588 1 29 menu menu NOUN bracis-33588 1 30 find find VERB bracis-33588 1 31 a a DET bracis-33588 1 32 journal journal NOUN bracis-33588 1 33 publish publish VERB bracis-33588 1 34 with with ADP bracis-33588 1 35 us we PRON bracis-33588 1 36 track track VERB bracis-33588 1 37 your your PRON bracis-33588 1 38 research research NOUN bracis-33588 1 39 search search NOUN bracis-33588 1 40 cart cart NOUN bracis-33588 1 41 home home NOUN bracis-33588 1 42 intelligent intelligent ADJ bracis-33588 1 43 systems system NOUN bracis-33588 1 44 conference conference NOUN bracis-33588 1 45 paper paper NOUN bracis-33588 1 46 improving improve VERB bracis-33588 1 47 llms llm NOUN bracis-33588 1 48 ’ ' PUNCT bracis-33588 1 49 reasoning reasoning NOUN bracis-33588 1 50 and and CCONJ bracis-33588 1 51     SPACE bracis-33588 1 52 planning plan VERB bracis-33588 1 53 with with ADP bracis-33588 1 54     SPACE bracis-33588 1 55 finite finite ADJ bracis-33588 1 56 - - ADJ bracis-33588 1 57 state state ADJ bracis-33588 1 58 machines machine NOUN bracis-33588 1 59 conference conference PROPN bracis-33588 1 60 paper paper PROPN bracis-33588 1 61 first first ADV bracis-33588 1 62 online online ADV bracis-33588 1 63 : : PUNCT bracis-33588 1 64 30 30 NUM bracis-33588 1 65 january january NOUN bracis-33588 1 66 2025 2025 NUM bracis-33588 1 67 pp pp PRON bracis-33588 1 68 110–124 110–124 NUM bracis-33588 1 69 cite cite VERB bracis-33588 1 70 this this DET bracis-33588 1 71 conference conference NOUN bracis-33588 1 72 paper paper NOUN bracis-33588 1 73 access access NOUN bracis-33588 1 74 provided provide VERB bracis-33588 1 75 by by ADP bracis-33588 1 76 university university PROPN bracis-33588 1 77 of of ADP bracis-33588 1 78 notre notre PROPN bracis-33588 1 79 dame dame PROPN bracis-33588 1 80 hesburgh hesburgh PROPN bracis-33588 1 81 library library PROPN bracis-33588 1 82 download download PROPN bracis-33588 1 83 book book NOUN bracis-33588 1 84 pdf pdf PROPN bracis-33588 1 85 download download NOUN bracis-33588 1 86 book book NOUN bracis-33588 1 87 epub epub PROPN bracis-33588 1 88 intelligent intelligent ADJ bracis-33588 1 89 systems system NOUN bracis-33588 1 90 ( ( PUNCT bracis-33588 1 91 bracis bracis NOUN bracis-33588 1 92 2024 2024 NUM bracis-33588 1 93 ) ) PUNCT bracis-33588 1 94 improving improve VERB bracis-33588 1 95 llms llm NOUN bracis-33588 1 96 ’ ' PUNCT bracis-33588 1 97 reasoning reasoning NOUN bracis-33588 1 98 and and CCONJ bracis-33588 1 99     SPACE bracis-33588 1 100 planning plan VERB bracis-33588 1 101 with with ADP bracis-33588 1 102     SPACE bracis-33588 1 103 finite finite ADJ bracis-33588 1 104 - - ADJ bracis-33588 1 105 state state ADJ bracis-33588 1 106 machines machine NOUN bracis-33588 1 107 download download VERB bracis-33588 1 108 book book NOUN bracis-33588 1 109 pdf pdf PROPN bracis-33588 1 110 download download NOUN bracis-33588 1 111 book book PROPN bracis-33588 1 112 epub epub PROPN bracis-33588 1 113 eduardo eduardo PROPN bracis-33588 1 114 faria faria PROPN bracis-33588 1 115 cabrera9 cabrera9 PROPN bracis-33588 1 116 , , PUNCT bracis-33588 1 117 marcel marcel PROPN bracis-33588 1 118 rodrigues rodrigues PROPN bracis-33588 1 119 de de X bracis-33588 1 120 barros9 barros9 PROPN bracis-33588 1 121 & & CCONJ bracis-33588 1 122 anna anna PROPN bracis-33588 1 123 helena helena PROPN bracis-33588 1 124 reali reali PROPN bracis-33588 1 125 costa9 costa9 PROPN bracis-33588 1 126     SPACE bracis-33588 1 127 part part NOUN bracis-33588 1 128 of of ADP bracis-33588 1 129 the the DET bracis-33588 1 130 book book NOUN bracis-33588 1 131 series series NOUN bracis-33588 1 132 : : PUNCT bracis-33588 1 133 lecture lecture NOUN bracis-33588 1 134 notes note NOUN bracis-33588 1 135 in in ADP bracis-33588 1 136 computer computer NOUN bracis-33588 1 137 science science NOUN bracis-33588 1 138 ( ( PUNCT bracis-33588 1 139 ( ( PUNCT bracis-33588 1 140 lnai lnai ADJ bracis-33588 1 141 , , PUNCT bracis-33588 1 142 volume volume NOUN bracis-33588 1 143 15413 15413 NUM bracis-33588 1 144 ) ) PUNCT bracis-33588 1 145 ) ) PUNCT bracis-33588 1 146 included include VERB bracis-33588 1 147 in in ADP bracis-33588 1 148 the the DET bracis-33588 1 149 following follow VERB bracis-33588 1 150 conference conference NOUN bracis-33588 1 151 series series NOUN bracis-33588 1 152 : : PUNCT bracis-33588 1 153 brazilian brazilian ADJ bracis-33588 1 154 conference conference NOUN bracis-33588 1 155 on on ADP bracis-33588 1 156 intelligent intelligent ADJ bracis-33588 1 157 systems system NOUN bracis-33588 1 158 435 435 NUM bracis-33588 1 159 accesses access NOUN bracis-33588 1 160 1 1 NUM bracis-33588 1 161 citation citation NOUN bracis-33588 1 162 abstract abstract ADJ bracis-33588 1 163 large large ADJ bracis-33588 1 164 language language NOUN bracis-33588 1 165 models model NOUN bracis-33588 1 166 ( ( PUNCT bracis-33588 1 167 llms llm NOUN bracis-33588 1 168 ) ) PUNCT bracis-33588 1 169 have have AUX bracis-33588 1 170 shown show VERB bracis-33588 1 171 remarkable remarkable ADJ bracis-33588 1 172 capabilities capability NOUN bracis-33588 1 173 across across ADP bracis-33588 1 174 various various ADJ bracis-33588 1 175 applications application NOUN bracis-33588 1 176 but but CCONJ bracis-33588 1 177 struggle struggle VERB bracis-33588 1 178 with with ADP bracis-33588 1 179 sequential sequential ADJ bracis-33588 1 180 decision decision NOUN bracis-33588 1 181 - - PUNCT bracis-33588 1 182 making make VERB bracis-33588 1 183 tasks task NOUN bracis-33588 1 184 like like ADP bracis-33588 1 185 planning plan VERB bracis-33588 1 186 . . PUNCT bracis-33588 2 1 this this DET bracis-33588 2 2 work work NOUN bracis-33588 2 3 demonstrates demonstrate VERB bracis-33588 2 4 that that SCONJ bracis-33588 2 5 integrating integrate VERB bracis-33588 2 6 llms llm NOUN bracis-33588 2 7 with with ADP bracis-33588 2 8 finite finite ADJ bracis-33588 2 9 - - ADJ bracis-33588 2 10 state state ADJ bracis-33588 2 11 machines machine NOUN bracis-33588 2 12 ( ( PUNCT bracis-33588 2 13 fsms fsm NOUN bracis-33588 2 14 ) ) PUNCT bracis-33588 2 15 can can AUX bracis-33588 2 16 enhance enhance VERB bracis-33588 2 17 their their PRON bracis-33588 2 18 reasoning reasoning NOUN bracis-33588 2 19 and and CCONJ bracis-33588 2 20 planning planning NOUN bracis-33588 2 21 abilities ability NOUN bracis-33588 2 22 , , PUNCT bracis-33588 2 23 while while SCONJ bracis-33588 2 24 also also ADV bracis-33588 2 25 offering offer VERB bracis-33588 2 26 increased increase VERB bracis-33588 2 27 reliability reliability NOUN bracis-33588 2 28 . . PUNCT bracis-33588 3 1 several several ADJ bracis-33588 3 2 setup setup NOUN bracis-33588 3 3 variants variant NOUN bracis-33588 3 4 are be AUX bracis-33588 3 5 compared compare VERB bracis-33588 3 6 , , PUNCT bracis-33588 3 7 providing provide VERB bracis-33588 3 8 a a DET bracis-33588 3 9 better well ADJ bracis-33588 3 10 understanding understanding NOUN bracis-33588 3 11 of of ADP bracis-33588 3 12 how how SCONJ bracis-33588 3 13 validations validation NOUN bracis-33588 3 14 , , PUNCT bracis-33588 3 15 feedback feedback NOUN bracis-33588 3 16 loops loop NOUN bracis-33588 3 17 , , PUNCT bracis-33588 3 18 and and CCONJ bracis-33588 3 19 restrictions restriction NOUN bracis-33588 3 20 enhance enhance VERB bracis-33588 3 21 robustness robustness NOUN bracis-33588 3 22 and and CCONJ bracis-33588 3 23 effectiveness effectiveness NOUN bracis-33588 3 24 . . PUNCT bracis-33588 4 1 a a DET bracis-33588 4 2 comparison comparison NOUN bracis-33588 4 3 to to ADP bracis-33588 4 4 the the DET bracis-33588 4 5 well well ADV bracis-33588 4 6 known know VERB bracis-33588 4 7 chain chain NOUN bracis-33588 4 8 - - PUNCT bracis-33588 4 9 of of ADP bracis-33588 4 10 - - PUNCT bracis-33588 4 11 thoughts thought NOUN bracis-33588 4 12 approach approach NOUN bracis-33588 4 13 is be AUX bracis-33588 4 14 also also ADV bracis-33588 4 15 provided provide VERB bracis-33588 4 16 . . PUNCT bracis-33588 5 1 our our PRON bracis-33588 5 2 methods method NOUN bracis-33588 5 3 improve improve VERB bracis-33588 5 4 planning plan VERB bracis-33588 5 5 capabilities capability NOUN bracis-33588 5 6 of of ADP bracis-33588 5 7 all all DET bracis-33588 5 8 analysed analyse VERB bracis-33588 5 9 llms llm NOUN bracis-33588 5 10 , , PUNCT bracis-33588 5 11 consistently consistently ADV bracis-33588 5 12 increasing increase VERB bracis-33588 5 13 the the DET bracis-33588 5 14 success success NOUN bracis-33588 5 15 rate rate NOUN bracis-33588 5 16 in in ADP bracis-33588 5 17 solving solve VERB bracis-33588 5 18 tasks task NOUN bracis-33588 5 19 of of ADP bracis-33588 5 20 varying vary VERB bracis-33588 5 21 complexities complexity NOUN bracis-33588 5 22 . . PUNCT bracis-33588 6 1 a a DET bracis-33588 6 2 detailed detailed ADJ bracis-33588 6 3 analysis analysis NOUN bracis-33588 6 4 of of ADP bracis-33588 6 5 the the DET bracis-33588 6 6 two two NUM bracis-33588 6 7 best good ADJ bracis-33588 6 8 variants variant NOUN bracis-33588 6 9 are be AUX bracis-33588 6 10 provided provide VERB bracis-33588 6 11 , , PUNCT bracis-33588 6 12 highlighting highlight VERB bracis-33588 6 13 their their PRON bracis-33588 6 14 respective respective ADJ bracis-33588 6 15 strengths strength NOUN bracis-33588 6 16 and and CCONJ bracis-33588 6 17 weaknesses weakness NOUN bracis-33588 6 18 . . PUNCT bracis-33588 7 1 the the DET bracis-33588 7 2 authors author NOUN bracis-33588 7 3 thank thank VERB bracis-33588 7 4 the the DET bracis-33588 7 5 centro centro X bracis-33588 7 6 de de X bracis-33588 7 7 ciência ciência X bracis-33588 7 8 de de ADP bracis-33588 7 9 dados dado NOUN bracis-33588 7 10 ( ( PUNCT bracis-33588 7 11 c2d c2d PROPN bracis-33588 7 12 - - PUNCT bracis-33588 7 13 poli poli NOUN bracis-33588 7 14 - - PUNCT bracis-33588 7 15 usp usp NOUN bracis-33588 7 16 ) ) PUNCT bracis-33588 7 17 supported support VERB bracis-33588 7 18 by by ADP bracis-33588 7 19 itaú itaú PROPN bracis-33588 7 20 unibanco unibanco PROPN bracis-33588 7 21 s.a s.a PROPN bracis-33588 7 22 . . PROPN bracis-33588 7 23 , , PUNCT bracis-33588 7 24 as as ADV bracis-33588 7 25 well well ADV bracis-33588 7 26 as as ADP bracis-33588 7 27 the the DET bracis-33588 7 28 center center NOUN bracis-33588 7 29 for for ADP bracis-33588 7 30 artificial artificial ADJ bracis-33588 7 31 intelligence intelligence NOUN bracis-33588 7 32 ( ( PUNCT bracis-33588 7 33 c4ai c4ai NOUN bracis-33588 7 34 - - PUNCT bracis-33588 7 35 usp usp NOUN bracis-33588 7 36 ) ) PUNCT bracis-33588 7 37 , , PUNCT bracis-33588 7 38 supported support VERB bracis-33588 7 39 by by ADP bracis-33588 7 40 fapesp fapesp NOUN bracis-33588 7 41 ( ( PUNCT bracis-33588 7 42 grant grant NOUN bracis-33588 7 43 2019/07665 2019/07665 NUM bracis-33588 7 44 - - SYM bracis-33588 7 45 4 4 NUM bracis-33588 7 46 ) ) PUNCT bracis-33588 7 47 and and CCONJ bracis-33588 7 48 ibm ibm PROPN bracis-33588 7 49 corporation corporation NOUN bracis-33588 7 50 . . PUNCT bracis-33588 8 1 this this DET bracis-33588 8 2 work work NOUN bracis-33588 8 3 is be AUX bracis-33588 8 4 partially partially ADV bracis-33588 8 5 supported support VERB bracis-33588 8 6 by by ADP bracis-33588 8 7 cnpq cnpq NOUN bracis-33588 8 8 ( ( PUNCT bracis-33588 8 9 grant grant VERB bracis-33588 8 10 number number NOUN bracis-33588 8 11 312360/2023 312360/2023 NUM bracis-33588 8 12 - - SYM bracis-33588 8 13 1 1 NUM bracis-33588 8 14 ) ) PUNCT bracis-33588 8 15 and and CCONJ bracis-33588 8 16 capes cape NOUN bracis-33588 8 17 ( ( PUNCT bracis-33588 8 18 finance finance NOUN bracis-33588 8 19 code code NOUN bracis-33588 8 20 001 001 NUM bracis-33588 8 21 ) ) PUNCT bracis-33588 8 22 . . PUNCT bracis-33588 9 1 access access NOUN bracis-33588 9 2 provided provide VERB bracis-33588 9 3 by by ADP bracis-33588 9 4 university university PROPN bracis-33588 9 5 of of ADP bracis-33588 9 6 notre notre PROPN bracis-33588 9 7 dame dame PROPN bracis-33588 9 8 hesburgh hesburgh PROPN bracis-33588 9 9 library library PROPN bracis-33588 9 10 . . PUNCT bracis-33588 10 1 download download PROPN bracis-33588 10 2 conference conference NOUN bracis-33588 10 3 paper paper NOUN bracis-33588 10 4 pdf pdf NOUN bracis-33588 10 5 similar similar ADJ bracis-33588 10 6 content content NOUN bracis-33588 10 7 being be AUX bracis-33588 10 8 viewed view VERB bracis-33588 10 9 by by ADP bracis-33588 10 10 others other NOUN bracis-33588 10 11 agent agent NOUN bracis-33588 10 12 can can AUX bracis-33588 10 13 say say VERB bracis-33588 10 14 no no DET bracis-33588 10 15 : : PUNCT bracis-33588 10 16 robot robot NOUN bracis-33588 10 17 task task NOUN bracis-33588 10 18 planning planning NOUN bracis-33588 10 19 by by ADP bracis-33588 10 20 natural natural ADJ bracis-33588 10 21 language language NOUN bracis-33588 10 22 feedback feedback NOUN bracis-33588 10 23 between between ADP bracis-33588 10 24 planner planner NOUN bracis-33588 10 25 and and CCONJ bracis-33588 10 26 executor executor NOUN bracis-33588 10 27 chapter chapter NOUN bracis-33588 10 28 © © PROPN bracis-33588 10 29 2024 2024 NUM bracis-33588 10 30 applying apply VERB bracis-33588 10 31 large large ADJ bracis-33588 10 32 language language NOUN bracis-33588 10 33 model model NOUN bracis-33588 10 34 in in ADP bracis-33588 10 35 survey survey NOUN bracis-33588 10 36 extraction extraction NOUN bracis-33588 10 37 chapter chapter NOUN bracis-33588 10 38 © © PROPN bracis-33588 10 39 2026 2026 NUM bracis-33588 10 40 comparative comparative ADJ bracis-33588 10 41 analysis analysis NOUN bracis-33588 10 42 of of ADP bracis-33588 10 43 methodologies methodology NOUN bracis-33588 10 44 and and CCONJ bracis-33588 10 45 approaches approach NOUN bracis-33588 10 46 in in ADP bracis-33588 10 47 recommender recommender NOUN bracis-33588 10 48 systems system NOUN bracis-33588 10 49 utilizing utilize VERB bracis-33588 10 50 large large ADJ bracis-33588 10 51 language language NOUN bracis-33588 10 52 models model NOUN bracis-33588 10 53 article article NOUN bracis-33588 10 54 open open ADJ bracis-33588 10 55 access access NOUN bracis-33588 10 56 17 17 NUM bracis-33588 10 57 april april PROPN bracis-33588 10 58 2025 2025 NUM bracis-33588 10 59 1 1 NUM bracis-33588 10 60 introduction introduction NOUN bracis-33588 10 61 recently recently ADV bracis-33588 10 62 , , PUNCT bracis-33588 10 63 large large ADJ bracis-33588 10 64 language language NOUN bracis-33588 10 65 models model NOUN bracis-33588 10 66 ( ( PUNCT bracis-33588 10 67 llms llm NOUN bracis-33588 10 68 ) ) PUNCT bracis-33588 10 69 have have AUX bracis-33588 10 70 surged surge VERB bracis-33588 10 71 in in ADP bracis-33588 10 72 development development NOUN bracis-33588 10 73 , , PUNCT bracis-33588 10 74 revolutionizing revolutionize VERB bracis-33588 10 75 ai ai VERB bracis-33588 10 76 capabilities capability NOUN bracis-33588 10 77 . . PUNCT bracis-33588 11 1 scaling scale VERB bracis-33588 11 2 up up ADP bracis-33588 11 3 these these DET bracis-33588 11 4 models model NOUN bracis-33588 11 5 has have AUX bracis-33588 11 6 unlocked unlock VERB bracis-33588 11 7 new new ADJ bracis-33588 11 8 feats feat NOUN bracis-33588 11 9 , , PUNCT bracis-33588 11 10 from from ADP bracis-33588 11 11 crafting craft VERB bracis-33588 11 12 narratives narrative NOUN bracis-33588 11 13 and and CCONJ bracis-33588 11 14 summarizing summarize VERB bracis-33588 11 15 text text NOUN bracis-33588 11 16 to to ADP bracis-33588 11 17 coding code VERB bracis-33588 11 18 and and CCONJ bracis-33588 11 19 enhancing enhance VERB bracis-33588 11 20 reasoning reasoning NOUN bracis-33588 11 21 skills skill NOUN bracis-33588 11 22 [ [ X bracis-33588 11 23 2 2 NUM bracis-33588 11 24 , , PUNCT bracis-33588 11 25 3 3 NUM bracis-33588 11 26 , , PUNCT bracis-33588 11 27 18 18 NUM bracis-33588 11 28 ] ] PUNCT bracis-33588 11 29 . . PUNCT bracis-33588 12 1 despite despite SCONJ bracis-33588 12 2 these these DET bracis-33588 12 3 advancements advancement NOUN bracis-33588 12 4 , , PUNCT bracis-33588 12 5 llms llm NOUN bracis-33588 12 6 still still ADV bracis-33588 12 7 face face VERB bracis-33588 12 8 challenges challenge NOUN bracis-33588 12 9 in in ADP bracis-33588 12 10 basic basic ADJ bracis-33588 12 11 logical logical ADJ bracis-33588 12 12 reasoning reasoning NOUN bracis-33588 12 13 , , PUNCT bracis-33588 12 14 often often ADV bracis-33588 12 15 producing produce VERB bracis-33588 12 16 implausible implausible ADJ bracis-33588 12 17 claims claim NOUN bracis-33588 12 18 and and CCONJ bracis-33588 12 19 struggling struggle VERB bracis-33588 12 20 with with ADP bracis-33588 12 21 rudimentary rudimentary ADJ bracis-33588 12 22 planning planning NOUN bracis-33588 12 23 tasks task NOUN bracis-33588 12 24 [ [ X bracis-33588 12 25 2 2 NUM bracis-33588 12 26 , , PUNCT bracis-33588 12 27 15 15 NUM bracis-33588 12 28 ] ] PUNCT bracis-33588 12 29 . . PUNCT bracis-33588 13 1 moreover moreover ADV bracis-33588 13 2 , , PUNCT bracis-33588 13 3 the the DET bracis-33588 13 4 opacity opacity NOUN bracis-33588 13 5 of of ADP bracis-33588 13 6 their their PRON bracis-33588 13 7 decision decision NOUN bracis-33588 13 8 - - PUNCT bracis-33588 13 9 making make VERB bracis-33588 13 10 processes process NOUN bracis-33588 13 11 poses pose VERB bracis-33588 13 12 significant significant ADJ bracis-33588 13 13 obstacles obstacle NOUN bracis-33588 13 14 in in ADP bracis-33588 13 15 interpreting interpret VERB bracis-33588 13 16 and and CCONJ bracis-33588 13 17 validating validate VERB bracis-33588 13 18 their their PRON bracis-33588 13 19 outputs output NOUN bracis-33588 13 20 , , PUNCT bracis-33588 13 21 especially especially ADV bracis-33588 13 22 in in ADP bracis-33588 13 23 critical critical ADJ bracis-33588 13 24 domains domain NOUN bracis-33588 13 25 like like ADP bracis-33588 13 26 healthcare healthcare NOUN bracis-33588 13 27 and and CCONJ bracis-33588 13 28 finance finance NOUN bracis-33588 13 29 . . PUNCT bracis-33588 14 1 thus thus ADV bracis-33588 14 2 , , PUNCT bracis-33588 14 3 there there PRON bracis-33588 14 4 is be VERB bracis-33588 14 5 an an DET bracis-33588 14 6 urgent urgent ADJ bracis-33588 14 7 need need NOUN bracis-33588 14 8 for for ADP bracis-33588 14 9 methodologies methodology NOUN bracis-33588 14 10 to to PART bracis-33588 14 11 validate validate VERB bracis-33588 14 12 , , PUNCT bracis-33588 14 13 guide guide NOUN bracis-33588 14 14 , , PUNCT bracis-33588 14 15 and and CCONJ bracis-33588 14 16 interpret interpret VERB bracis-33588 14 17 the the DET bracis-33588 14 18 decision decision NOUN bracis-33588 14 19 pathways pathway NOUN bracis-33588 14 20 of of ADP bracis-33588 14 21 llms llm NOUN bracis-33588 14 22 . . PUNCT bracis-33588 15 1 one one NUM bracis-33588 15 2 extensively extensively ADV bracis-33588 15 3 studied study VERB bracis-33588 15 4 form form NOUN bracis-33588 15 5 of of ADP bracis-33588 15 6 reasoning reason VERB bracis-33588 15 7 task task NOUN bracis-33588 15 8 in in ADP bracis-33588 15 9 the the DET bracis-33588 15 10 ai ai PROPN bracis-33588 15 11 community community NOUN bracis-33588 15 12 is be AUX bracis-33588 15 13 planning plan VERB bracis-33588 15 14 and and CCONJ bracis-33588 15 15 making make VERB bracis-33588 15 16 sequential sequential ADJ bracis-33588 15 17 decisions decision NOUN bracis-33588 15 18 . . PUNCT bracis-33588 16 1 planning planning NOUN bracis-33588 16 2 involves involve VERB bracis-33588 16 3 executing execute VERB bracis-33588 16 4 a a DET bracis-33588 16 5 series series NOUN bracis-33588 16 6 of of ADP bracis-33588 16 7 valid valid ADJ bracis-33588 16 8 actions action NOUN bracis-33588 16 9 within within ADP bracis-33588 16 10 a a DET bracis-33588 16 11 defined define VERB bracis-33588 16 12 context context NOUN bracis-33588 16 13 to to ADP bracis-33588 16 14 transition transition NOUN bracis-33588 16 15 from from ADP bracis-33588 16 16 an an DET bracis-33588 16 17 initial initial ADJ bracis-33588 16 18 state state NOUN bracis-33588 16 19 to to ADP bracis-33588 16 20 a a DET bracis-33588 16 21 goal goal NOUN bracis-33588 16 22 state state NOUN bracis-33588 17 1 [ [ X bracis-33588 17 2 11 11 NUM bracis-33588 17 3 ] ] PUNCT bracis-33588 17 4 . . PUNCT bracis-33588 18 1 even even ADV bracis-33588 18 2 simple simple ADJ bracis-33588 18 3 planning planning NOUN bracis-33588 18 4 tasks task NOUN bracis-33588 18 5 pose pose VERB bracis-33588 18 6 challenges challenge NOUN bracis-33588 18 7 for for ADP bracis-33588 18 8 llms llm NOUN bracis-33588 18 9 , , PUNCT bracis-33588 18 10 as as SCONJ bracis-33588 18 11 they they PRON bracis-33588 18 12 often often ADV bracis-33588 18 13 struggle struggle VERB bracis-33588 18 14 to to PART bracis-33588 18 15 achieve achieve VERB bracis-33588 18 16 success success NOUN bracis-33588 18 17 rates rate NOUN bracis-33588 18 18 and and CCONJ bracis-33588 18 19 generate generate VERB bracis-33588 18 20 valid valid ADJ bracis-33588 18 21 plans plan NOUN bracis-33588 18 22 due due ADP bracis-33588 18 23 to to ADP bracis-33588 18 24 the the DET bracis-33588 18 25 requirement requirement NOUN bracis-33588 18 26 of of ADP bracis-33588 18 27 validating validate VERB bracis-33588 18 28 each each DET bracis-33588 18 29 action action NOUN bracis-33588 18 30 ’s ’s PART bracis-33588 18 31 feasibility feasibility NOUN bracis-33588 18 32 in in ADP bracis-33588 18 33 every every DET bracis-33588 18 34 state state NOUN bracis-33588 18 35 , , PUNCT bracis-33588 18 36 backtracking backtrack VERB bracis-33588 18 37 previous previous ADJ bracis-33588 18 38 states state NOUN bracis-33588 18 39 and and CCONJ bracis-33588 18 40 actions action NOUN bracis-33588 18 41 , , PUNCT bracis-33588 18 42 and and CCONJ bracis-33588 18 43 employing employ VERB bracis-33588 18 44 long long ADJ bracis-33588 18 45 - - PUNCT bracis-33588 18 46 term term NOUN bracis-33588 18 47 reasoning reasoning NOUN bracis-33588 18 48 [ [ X bracis-33588 18 49 15 15 NUM bracis-33588 18 50 ] ] PUNCT bracis-33588 18 51 . . PUNCT bracis-33588 19 1 enhancing enhance VERB bracis-33588 19 2 planning planning NOUN bracis-33588 19 3 , , PUNCT bracis-33588 19 4 reasoning reasoning NOUN bracis-33588 19 5 , , PUNCT bracis-33588 19 6 and and CCONJ bracis-33588 19 7 introducing introduce VERB bracis-33588 19 8 guarantees guarantee NOUN bracis-33588 19 9 in in ADP bracis-33588 19 10 multi multi ADJ bracis-33588 19 11 - - ADJ bracis-33588 19 12 step step ADJ bracis-33588 19 13 decision decision NOUN bracis-33588 19 14 making make VERB bracis-33588 19 15 problems problem NOUN bracis-33588 19 16 is be AUX bracis-33588 19 17 crucial crucial ADJ bracis-33588 19 18 for for ADP bracis-33588 19 19 improving improve VERB bracis-33588 19 20 llms llm NOUN bracis-33588 19 21 ’ ' PUNCT bracis-33588 19 22 reliability reliability NOUN bracis-33588 19 23 , , PUNCT bracis-33588 19 24 which which PRON bracis-33588 19 25 would would AUX bracis-33588 19 26 open open VERB bracis-33588 19 27 up up ADP bracis-33588 19 28 their their PRON bracis-33588 19 29 usage usage NOUN bracis-33588 19 30 in in ADP bracis-33588 19 31 some some DET bracis-33588 19 32 risk risk NOUN bracis-33588 19 33 averse averse ADJ bracis-33588 19 34 applications application NOUN bracis-33588 19 35 . . PUNCT bracis-33588 20 1 the the DET bracis-33588 20 2 research research NOUN bracis-33588 20 3 community community NOUN bracis-33588 20 4 is be AUX bracis-33588 20 5 actively actively ADV bracis-33588 20 6 developing develop VERB bracis-33588 20 7 new new ADJ bracis-33588 20 8 methods method NOUN bracis-33588 20 9 to to PART bracis-33588 20 10 address address VERB bracis-33588 20 11 multi multi ADJ bracis-33588 20 12 - - ADJ bracis-33588 20 13 step step ADJ bracis-33588 20 14 problems problem NOUN bracis-33588 20 15 with with ADP bracis-33588 20 16 llms llm NOUN bracis-33588 20 17 by by ADP bracis-33588 20 18 enhancing enhance VERB bracis-33588 20 19 their their PRON bracis-33588 20 20 reliability reliability NOUN bracis-33588 20 21 , , PUNCT bracis-33588 20 22 interpretability interpretability NOUN bracis-33588 20 23 , , PUNCT bracis-33588 20 24 and and CCONJ bracis-33588 20 25 robustness robustness NOUN bracis-33588 20 26 . . PUNCT bracis-33588 21 1 one one NUM bracis-33588 21 2 such such ADJ bracis-33588 21 3 technique technique NOUN bracis-33588 21 4 is be AUX bracis-33588 21 5 chain chain NOUN bracis-33588 21 6 - - PUNCT bracis-33588 21 7 of of ADP bracis-33588 21 8 - - PUNCT bracis-33588 21 9 thought thought NOUN bracis-33588 21 10 ( ( PUNCT bracis-33588 21 11 cot cot NOUN bracis-33588 21 12 ) ) PUNCT bracis-33588 22 1 [ [ X bracis-33588 22 2 19 19 NUM bracis-33588 22 3 ] ] PUNCT bracis-33588 22 4 , , PUNCT bracis-33588 22 5 a a DET bracis-33588 22 6 prompt prompt NOUN bracis-33588 22 7 - - PUNCT bracis-33588 22 8 based base VERB bracis-33588 22 9 approach approach NOUN bracis-33588 22 10 that that PRON bracis-33588 22 11 incorporates incorporate VERB bracis-33588 22 12 intermediate intermediate ADJ bracis-33588 22 13 reasoning reasoning NOUN bracis-33588 22 14 steps step NOUN bracis-33588 22 15 , , PUNCT bracis-33588 22 16 or or CCONJ bracis-33588 22 17 “ " PUNCT bracis-33588 22 18 thoughts thought NOUN bracis-33588 22 19 , , PUNCT bracis-33588 22 20 " " PUNCT bracis-33588 22 21 alongside alongside ADP bracis-33588 22 22 task task NOUN bracis-33588 22 23 input input NOUN bracis-33588 22 24 / / SYM bracis-33588 22 25 output output NOUN bracis-33588 22 26 pairs pair NOUN bracis-33588 22 27 . . PUNCT bracis-33588 23 1 by by ADP bracis-33588 23 2 decomposing decompose VERB bracis-33588 23 3 the the DET bracis-33588 23 4 original original ADJ bracis-33588 23 5 problem problem NOUN bracis-33588 23 6 into into ADP bracis-33588 23 7 these these DET bracis-33588 23 8 intermediate intermediate ADJ bracis-33588 23 9 steps step NOUN bracis-33588 23 10 , , PUNCT bracis-33588 23 11 cot cot NOUN bracis-33588 23 12 facilitates facilitate VERB bracis-33588 23 13 structured structured ADJ bracis-33588 23 14 reasoning reasoning NOUN bracis-33588 23 15 , , PUNCT bracis-33588 23 16 thereby thereby ADV bracis-33588 23 17 improving improve VERB bracis-33588 23 18 llms llm NOUN bracis-33588 23 19 ’ ' PUNCT bracis-33588 23 20 ability ability NOUN bracis-33588 23 21 to to PART bracis-33588 23 22 tackle tackle VERB bracis-33588 23 23 procedural procedural ADJ bracis-33588 23 24 problems problem NOUN bracis-33588 23 25 . . PUNCT bracis-33588 24 1 empirical empirical ADJ bracis-33588 24 2 evidence evidence NOUN bracis-33588 24 3 has have AUX bracis-33588 24 4 demonstrated demonstrate VERB bracis-33588 24 5 cot cot NOUN bracis-33588 24 6 ’s ’s PART bracis-33588 24 7 effectiveness effectiveness NOUN bracis-33588 24 8 in in ADP bracis-33588 24 9 enhancing enhance VERB bracis-33588 24 10 problem problem NOUN bracis-33588 24 11 - - PUNCT bracis-33588 24 12 solving solve VERB bracis-33588 24 13 capabilities capability NOUN bracis-33588 24 14 [ [ X bracis-33588 24 15 19 19 NUM bracis-33588 24 16 ] ] PUNCT bracis-33588 24 17 . . PUNCT bracis-33588 25 1 furthermore furthermore ADV bracis-33588 25 2 , , PUNCT bracis-33588 25 3 advancements advancement NOUN bracis-33588 25 4 have have AUX bracis-33588 25 5 extended extend VERB bracis-33588 25 6 cot cot NOUN bracis-33588 25 7 ’s ’s PART bracis-33588 25 8 capabilities capability NOUN bracis-33588 25 9 , , PUNCT bracis-33588 25 10 including include VERB bracis-33588 25 11 techniques technique NOUN bracis-33588 25 12 like like ADP bracis-33588 25 13 self self NOUN bracis-33588 25 14 - - PUNCT bracis-33588 25 15 consistency consistency NOUN bracis-33588 25 16 with with ADP bracis-33588 25 17 cot cot NOUN bracis-33588 25 18 ( ( PUNCT bracis-33588 25 19 cot cot NOUN bracis-33588 25 20 - - PROPN bracis-33588 25 21 sc sc NOUN bracis-33588 25 22 ) ) PUNCT bracis-33588 26 1 [ [ X bracis-33588 26 2 17 17 NUM bracis-33588 26 3 ] ] PUNCT bracis-33588 26 4 and and CCONJ bracis-33588 26 5 causalcot causalcot VERB bracis-33588 27 1 [ [ X bracis-33588 27 2 9 9 NUM bracis-33588 27 3 ] ] PUNCT bracis-33588 27 4 , , PUNCT bracis-33588 27 5 as as ADV bracis-33588 27 6 well well ADV bracis-33588 27 7 as as ADP bracis-33588 27 8 more more ADV bracis-33588 27 9 complex complex ADJ bracis-33588 27 10 and and CCONJ bracis-33588 27 11 flexible flexible ADJ bracis-33588 27 12 approaches approach NOUN bracis-33588 27 13 like like ADP bracis-33588 27 14 tree tree NOUN bracis-33588 27 15 - - PUNCT bracis-33588 27 16 of of ADP bracis-33588 27 17 - - PUNCT bracis-33588 27 18 thoughts thought NOUN bracis-33588 27 19 [ [ X bracis-33588 27 20 20 20 NUM bracis-33588 27 21 ] ] PUNCT bracis-33588 27 22 and and CCONJ bracis-33588 27 23 graph graph NOUN bracis-33588 27 24 - - PUNCT bracis-33588 27 25 of of ADP bracis-33588 27 26 - - PUNCT bracis-33588 27 27 thoughts thought NOUN bracis-33588 27 28 [ [ X bracis-33588 27 29 1 1 NUM bracis-33588 27 30 ] ] PUNCT bracis-33588 27 31 . . PUNCT bracis-33588 28 1 however however ADV bracis-33588 28 2 , , PUNCT bracis-33588 28 3 these these DET bracis-33588 28 4 techniques technique NOUN bracis-33588 28 5 primarily primarily ADV bracis-33588 28 6 focus focus VERB bracis-33588 28 7 on on ADP bracis-33588 28 8 refining refine VERB bracis-33588 28 9 prompting prompt VERB bracis-33588 28 10 strategies strategy NOUN bracis-33588 28 11 without without ADP bracis-33588 28 12 explicitly explicitly ADV bracis-33588 28 13 leveraging leverage VERB bracis-33588 28 14 the the DET bracis-33588 28 15 logical logical ADJ bracis-33588 28 16 structure structure NOUN bracis-33588 28 17 of of ADP bracis-33588 28 18 problems problem NOUN bracis-33588 28 19 to to PART bracis-33588 28 20 validate validate VERB bracis-33588 28 21 and and CCONJ bracis-33588 28 22 guide guide VERB bracis-33588 28 23 llms llm NOUN bracis-33588 28 24 ’ ' PUNCT bracis-33588 28 25 reasoning reasoning NOUN bracis-33588 28 26 processes process NOUN bracis-33588 28 27 . . PUNCT bracis-33588 29 1 our our PRON bracis-33588 29 2 approach approach NOUN bracis-33588 29 3 associates associate NOUN bracis-33588 29 4 llms llm NOUN bracis-33588 29 5 to to ADP bracis-33588 29 6 finite finite ADJ bracis-33588 29 7 - - ADJ bracis-33588 29 8 state state ADJ bracis-33588 29 9 machines machine NOUN bracis-33588 29 10 ( ( PUNCT bracis-33588 29 11 fsms fsms PROPN bracis-33588 29 12 ) ) PUNCT bracis-33588 29 13 , , PUNCT bracis-33588 29 14 commonly commonly ADV bracis-33588 29 15 used use VERB bracis-33588 29 16 in in ADP bracis-33588 29 17 systems system NOUN bracis-33588 29 18 that that PRON bracis-33588 29 19 require require VERB bracis-33588 29 20 reliability reliability NOUN bracis-33588 29 21 and and CCONJ bracis-33588 29 22 predictability predictability NOUN bracis-33588 29 23 , , PUNCT bracis-33588 29 24 as as ADP bracis-33588 29 25 a a DET bracis-33588 29 26 guiding guide VERB bracis-33588 29 27 structure structure NOUN bracis-33588 29 28 to to ADP bracis-33588 29 29 the the DET bracis-33588 29 30 decision decision NOUN bracis-33588 29 31 - - PUNCT bracis-33588 29 32 making make VERB bracis-33588 29 33 processes process NOUN bracis-33588 29 34 of of ADP bracis-33588 29 35 llms llm NOUN bracis-33588 29 36 . . PUNCT bracis-33588 30 1 this this DET bracis-33588 30 2 association association NOUN bracis-33588 30 3 restricts restrict VERB bracis-33588 30 4 the the DET bracis-33588 30 5 model model NOUN bracis-33588 30 6 ’s ’s PART bracis-33588 30 7 decision decision NOUN bracis-33588 30 8 at at ADP bracis-33588 30 9 each each DET bracis-33588 30 10 step step NOUN bracis-33588 30 11 , , PUNCT bracis-33588 30 12 providing provide VERB bracis-33588 30 13 several several ADJ bracis-33588 30 14 additional additional ADJ bracis-33588 30 15 guarantees guarantee NOUN bracis-33588 30 16 enabling enable VERB bracis-33588 30 17 applications application NOUN bracis-33588 30 18 with with ADP bracis-33588 30 19 tighter tight ADJ bracis-33588 30 20 restrictions restriction NOUN bracis-33588 30 21 to to PART bracis-33588 30 22 benefit benefit VERB bracis-33588 30 23 from from ADP bracis-33588 30 24 modern modern ADJ bracis-33588 30 25 ai ai ADJ bracis-33588 30 26 capabilities capability NOUN bracis-33588 30 27 . . PUNCT bracis-33588 31 1 the the DET bracis-33588 31 2 key key ADJ bracis-33588 31 3 contributions contribution NOUN bracis-33588 31 4 of of ADP bracis-33588 31 5 our our PRON bracis-33588 31 6 work work NOUN bracis-33588 31 7 are be AUX bracis-33588 31 8 : : PUNCT bracis-33588 31 9 novel novel ADJ bracis-33588 31 10 approach approach NOUN bracis-33588 31 11 : : PUNCT bracis-33588 31 12 we we PRON bracis-33588 31 13 introduce introduce VERB bracis-33588 31 14 a a DET bracis-33588 31 15 novel novel ADJ bracis-33588 31 16 method method NOUN bracis-33588 31 17 that that PRON bracis-33588 31 18 incorporates incorporate VERB bracis-33588 31 19 fsms fsm NOUN bracis-33588 31 20 as as ADP bracis-33588 31 21 a a DET bracis-33588 31 22 guiding guide VERB bracis-33588 31 23 structure structure NOUN bracis-33588 31 24 for for ADP bracis-33588 31 25 llm llm PROPN bracis-33588 31 26 decision decision NOUN bracis-33588 31 27 - - PUNCT bracis-33588 31 28 making make VERB bracis-33588 31 29 processes process NOUN bracis-33588 31 30 . . PUNCT bracis-33588 32 1 enhanced enhance VERB bracis-33588 32 2 problem problem NOUN bracis-33588 32 3 - - PUNCT bracis-33588 32 4 solving solving NOUN bracis-33588 32 5 : : PUNCT bracis-33588 32 6 we we PRON bracis-33588 32 7 provide provide VERB bracis-33588 32 8 evidence evidence NOUN bracis-33588 32 9 that that SCONJ bracis-33588 32 10 validations validation NOUN bracis-33588 32 11 , , PUNCT bracis-33588 32 12 feedback feedback NOUN bracis-33588 32 13 loops loop NOUN bracis-33588 32 14 , , PUNCT bracis-33588 32 15 and and CCONJ bracis-33588 32 16 restrictions restriction NOUN bracis-33588 32 17 enabled enable VERB bracis-33588 32 18 by by ADP bracis-33588 32 19 fsms fsm NOUN bracis-33588 32 20 , , PUNCT bracis-33588 32 21 derived derive VERB bracis-33588 32 22 from from ADP bracis-33588 32 23 standard standard ADJ bracis-33588 32 24 planning planning NOUN bracis-33588 32 25 language language NOUN bracis-33588 32 26 definitions definition NOUN bracis-33588 32 27 , , PUNCT bracis-33588 32 28 enhance enhance VERB bracis-33588 32 29 llms llm NOUN bracis-33588 32 30 ’ ' PUNCT bracis-33588 32 31 ability ability NOUN bracis-33588 32 32 to to PART bracis-33588 32 33 solve solve VERB bracis-33588 32 34 planning planning NOUN bracis-33588 32 35 problems problem NOUN bracis-33588 32 36 . . PUNCT bracis-33588 33 1 comprehensive comprehensive ADJ bracis-33588 33 2 comparison comparison NOUN bracis-33588 33 3 : : PUNCT bracis-33588 33 4 we we PRON bracis-33588 33 5 present present VERB bracis-33588 33 6 a a DET bracis-33588 33 7 detailed detailed ADJ bracis-33588 33 8 comparison comparison NOUN bracis-33588 33 9 of of ADP bracis-33588 33 10 our our PRON bracis-33588 33 11 most most ADV bracis-33588 33 12 effective effective ADJ bracis-33588 33 13 setups setup NOUN bracis-33588 33 14 , , PUNCT bracis-33588 33 15 thoroughly thoroughly ADV bracis-33588 33 16 analyzing analyze VERB bracis-33588 33 17 their their PRON bracis-33588 33 18 strengths strength NOUN bracis-33588 33 19 and and CCONJ bracis-33588 33 20 weaknesses weakness NOUN bracis-33588 33 21 in in ADP bracis-33588 33 22 the the DET bracis-33588 33 23 context context NOUN bracis-33588 33 24 of of ADP bracis-33588 33 25 planning planning NOUN bracis-33588 33 26 problems problem NOUN bracis-33588 33 27 . . PUNCT bracis-33588 34 1 2 2 NUM bracis-33588 34 2 background background NOUN bracis-33588 34 3 this this DET bracis-33588 34 4 section section NOUN bracis-33588 34 5 covers cover VERB bracis-33588 34 6 essential essential ADJ bracis-33588 34 7 concepts concept NOUN bracis-33588 34 8 for for ADP bracis-33588 34 9 this this DET bracis-33588 34 10 work work NOUN bracis-33588 34 11 . . PUNCT bracis-33588 35 1 it it PRON bracis-33588 35 2 briefly briefly ADV bracis-33588 35 3 explains explain VERB bracis-33588 35 4 how how SCONJ bracis-33588 35 5 auto auto NOUN bracis-33588 35 6 - - PUNCT bracis-33588 35 7 regressive regressive ADJ bracis-33588 35 8 llms llm NOUN bracis-33588 35 9 function function VERB bracis-33588 35 10 and and CCONJ bracis-33588 35 11 their their PRON bracis-33588 35 12 advantages advantage NOUN bracis-33588 35 13 in in ADP bracis-33588 35 14 solving solve VERB bracis-33588 35 15 planning planning NOUN bracis-33588 35 16 problems problem NOUN bracis-33588 35 17 . . PUNCT bracis-33588 36 1 it it PRON bracis-33588 36 2 then then ADV bracis-33588 36 3 provides provide VERB bracis-33588 36 4 a a DET bracis-33588 36 5 formal formal ADJ bracis-33588 36 6 definition definition NOUN bracis-33588 36 7 of of ADP bracis-33588 36 8 a a DET bracis-33588 36 9 planning planning NOUN bracis-33588 36 10 problem problem NOUN bracis-33588 36 11 . . PUNCT bracis-33588 37 1 finally finally ADV bracis-33588 37 2 , , PUNCT bracis-33588 37 3 it it PRON bracis-33588 37 4 defines define VERB bracis-33588 37 5 a a DET bracis-33588 37 6 mealy mealy ADJ bracis-33588 37 7 machine machine NOUN bracis-33588 37 8 , , PUNCT bracis-33588 37 9 a a DET bracis-33588 37 10 type type NOUN bracis-33588 37 11 of of ADP bracis-33588 37 12 finite finite ADJ bracis-33588 37 13 - - ADJ bracis-33588 37 14 state state NOUN bracis-33588 37 15 machine machine NOUN bracis-33588 37 16 , , PUNCT bracis-33588 37 17 which which PRON bracis-33588 37 18 will will AUX bracis-33588 37 19 be be AUX bracis-33588 37 20 used use VERB bracis-33588 37 21 to to PART bracis-33588 37 22 guide guide VERB bracis-33588 37 23 the the DET bracis-33588 37 24 llm llm NOUN bracis-33588 37 25 in in ADP bracis-33588 37 26 addressing address VERB bracis-33588 37 27 planning planning NOUN bracis-33588 37 28 problems problem NOUN bracis-33588 37 29 . . PUNCT bracis-33588 38 1 2.1 2.1 NUM bracis-33588 38 2 large large ADJ bracis-33588 38 3 language language NOUN bracis-33588 38 4 models model NOUN bracis-33588 38 5 for for ADP bracis-33588 38 6     SPACE bracis-33588 38 7 planning plan VERB bracis-33588 38 8 large large ADJ bracis-33588 38 9 language language NOUN bracis-33588 38 10 models model NOUN bracis-33588 38 11 are be AUX bracis-33588 38 12 built build VERB bracis-33588 38 13 upon upon SCONJ bracis-33588 38 14 a a DET bracis-33588 38 15 transformer transformer ADJ bracis-33588 38 16 architecture architecture NOUN bracis-33588 38 17 [ [ X bracis-33588 38 18 16 16 NUM bracis-33588 38 19 ] ] PUNCT bracis-33588 38 20 , , PUNCT bracis-33588 38 21 which which PRON bracis-33588 38 22 undergoes undergo VERB bracis-33588 38 23 training training NOUN bracis-33588 38 24 on on ADP bracis-33588 38 25 a a DET bracis-33588 38 26 vast vast ADJ bracis-33588 38 27 corpus corpus NOUN bracis-33588 38 28 of of ADP bracis-33588 38 29 text text NOUN bracis-33588 38 30 samples sample NOUN bracis-33588 38 31 sourced source VERB bracis-33588 38 32 from from ADP bracis-33588 38 33 the the DET bracis-33588 38 34 web web NOUN bracis-33588 38 35 . . PUNCT bracis-33588 39 1 formally formally ADV bracis-33588 39 2 , , PUNCT bracis-33588 39 3 we we PRON bracis-33588 39 4 define define VERB bracis-33588 39 5 a a DET bracis-33588 39 6 collection collection NOUN bracis-33588 39 7 of of ADP bracis-33588 39 8 examples example NOUN bracis-33588 39 9 \(x \(x NOUN bracis-33588 39 10 = = SYM bracis-33588 39 11 ( ( PUNCT bracis-33588 39 12 x_1 x_1 PROPN bracis-33588 39 13 , , PUNCT bracis-33588 39 14 x_2 x_2 PROPN bracis-33588 39 15 , , PUNCT bracis-33588 39 16 \dots \dot NOUN bracis-33588 39 17 , , PUNCT bracis-33588 39 18 x_n)\ x_n)\ PROPN bracis-33588 39 19 ) ) PUNCT bracis-33588 39 20 , , PUNCT bracis-33588 39 21 where where SCONJ bracis-33588 39 22 each each DET bracis-33588 39 23 \(x_i \(x_i PROPN bracis-33588 39 24 = = SYM bracis-33588 39 25 ( ( PUNCT bracis-33588 39 26 \alpha \alpha PROPN bracis-33588 39 27 _ _ NOUN bracis-33588 39 28 1 1 NUM bracis-33588 39 29 , , PUNCT bracis-33588 39 30 \alpha \alpha PUNCT bracis-33588 39 31 _ _ NOUN bracis-33588 39 32 2 2 NUM bracis-33588 39 33 , , PUNCT bracis-33588 39 34 \dots \dot VERB bracis-33588 39 35 \alpha \alpha ADP bracis-33588 39 36 _ _ ADJ bracis-33588 39 37 { { PUNCT bracis-33588 39 38 n_i})\ n_i})\ NOUN bracis-33588 39 39 ) ) PUNCT bracis-33588 39 40 and and CCONJ bracis-33588 39 41 every every DET bracis-33588 39 42 token token VERB bracis-33588 39 43 \(\alpha \(\alpha NOUN bracis-33588 39 44 _ _ PUNCT bracis-33588 39 45 i\ i\ NOUN bracis-33588 39 46 ) ) PUNCT bracis-33588 39 47 is be AUX bracis-33588 39 48 drawn draw VERB bracis-33588 39 49 from from ADP bracis-33588 39 50 a a DET bracis-33588 39 51 predefined predefine VERB bracis-33588 39 52 vocabulary vocabulary NOUN bracis-33588 39 53 \(\textbf{v}\ \(\textbf{v}\ PROPN bracis-33588 39 54 ) ) PUNCT bracis-33588 39 55 . . PUNCT bracis-33588 40 1 each each DET bracis-33588 40 2 llm llm PROPN bracis-33588 40 3 is be AUX bracis-33588 40 4 equipped equip VERB bracis-33588 40 5 with with ADP bracis-33588 40 6 a a DET bracis-33588 40 7 tokenizer tokenizer NOUN bracis-33588 40 8 responsible responsible ADJ bracis-33588 40 9 for for ADP bracis-33588 40 10 converting convert VERB bracis-33588 40 11 raw raw ADJ bracis-33588 40 12 input input NOUN bracis-33588 40 13 text text NOUN bracis-33588 40 14 into into ADP bracis-33588 40 15 a a DET bracis-33588 40 16 sequence sequence NOUN bracis-33588 40 17 of of ADP bracis-33588 40 18 tokens token NOUN bracis-33588 40 19 , , PUNCT bracis-33588 40 20 each each PRON bracis-33588 40 21 belonging belong VERB bracis-33588 40 22 to to ADP bracis-33588 40 23 \(\textbf{v}\ \(\textbf{v}\ NUM bracis-33588 40 24 ) ) PUNCT bracis-33588 40 25 . . PUNCT bracis-33588 41 1 llms llm NOUN bracis-33588 41 2 typically typically ADV bracis-33588 41 3 undergo undergo VERB bracis-33588 41 4 training training NOUN bracis-33588 41 5 in in ADP bracis-33588 41 6 an an DET bracis-33588 41 7 auto auto NOUN bracis-33588 41 8 - - PUNCT bracis-33588 41 9 regressive regressive ADJ bracis-33588 41 10 manner manner NOUN bracis-33588 41 11 , , PUNCT bracis-33588 41 12 where where SCONJ bracis-33588 41 13 the the DET bracis-33588 41 14 probability probability NOUN bracis-33588 41 15 of of ADP bracis-33588 41 16 each each DET bracis-33588 41 17 token token VERB bracis-33588 41 18 is be AUX bracis-33588 41 19 solely solely ADV bracis-33588 41 20 dependent dependent ADJ bracis-33588 41 21 on on ADP bracis-33588 41 22 its its PRON bracis-33588 41 23 preceding precede VERB bracis-33588 41 24 tokens token NOUN bracis-33588 41 25 in in ADP bracis-33588 41 26 the the DET bracis-33588 41 27 sequence sequence NOUN bracis-33588 41 28 , , PUNCT bracis-33588 41 29 expressed express VERB bracis-33588 41 30 as as ADP bracis-33588 41 31 \(p(x_i \(p(x_i NUM bracis-33588 41 32 ) ) PUNCT bracis-33588 41 33 = = PUNCT bracis-33588 42 1 \prod \prod PROPN bracis-33588 42 2 _ _ PROPN bracis-33588 42 3 { { PUNCT bracis-33588 42 4 j=1}^{n_i}p(\alpha j=1}^{n_i}p(\alpha PROPN bracis-33588 42 5 _ _ PUNCT bracis-33588 42 6 j|\alpha j|\alpha PROPN bracis-33588 42 7 _ _ PUNCT bracis-33588 42 8 { { PUNCT bracis-33588 42 9 0 0 NUM bracis-33588 42 10 : : PUNCT bracis-33588 42 11 j-1})\ j-1})\ PROPN bracis-33588 42 12 ) ) PUNCT bracis-33588 42 13 . . PUNCT bracis-33588 43 1 during during ADP bracis-33588 43 2 training training NOUN bracis-33588 43 3 , , PUNCT bracis-33588 43 4 the the DET bracis-33588 43 5 model model NOUN bracis-33588 43 6 parameters parameter NOUN bracis-33588 43 7 are be AUX bracis-33588 43 8 learned learn VERB bracis-33588 43 9 by by ADP bracis-33588 43 10 maximizing maximize VERB bracis-33588 43 11 the the DET bracis-33588 43 12 likelihood likelihood NOUN bracis-33588 43 13 of of ADP bracis-33588 43 14 the the DET bracis-33588 43 15 entire entire ADJ bracis-33588 43 16 dataset dataset NOUN bracis-33588 43 17 , , PUNCT bracis-33588 43 18 formulated formulate VERB bracis-33588 43 19 as as ADP bracis-33588 43 20 \(p(x \(p(x PROPN bracis-33588 43 21 ) ) PUNCT bracis-33588 43 22 = = PUNCT bracis-33588 44 1 \prod \prod PROPN bracis-33588 44 2 _ _ PROPN bracis-33588 44 3 { { PUNCT bracis-33588 44 4 i=1}^{n}p(x_i)\ i=1}^{n}p(x_i)\ NOUN bracis-33588 44 5 ) ) PUNCT bracis-33588 44 6 . . PUNCT bracis-33588 45 1 addressing address VERB bracis-33588 45 2 planning planning NOUN bracis-33588 45 3 problems problem NOUN bracis-33588 45 4 with with ADP bracis-33588 45 5 pre pre ADJ bracis-33588 45 6 - - ADJ bracis-33588 45 7 trained train VERB bracis-33588 45 8 llms llm NOUN bracis-33588 45 9 is be AUX bracis-33588 45 10 highly highly ADV bracis-33588 45 11 advantageous advantageous ADJ bracis-33588 45 12 as as SCONJ bracis-33588 45 13 these these DET bracis-33588 45 14 models model NOUN bracis-33588 45 15 can can AUX bracis-33588 45 16 leverage leverage VERB bracis-33588 45 17 their their PRON bracis-33588 45 18 extensive extensive ADJ bracis-33588 45 19 world world NOUN bracis-33588 45 20 knowledge knowledge NOUN bracis-33588 45 21 , , PUNCT bracis-33588 45 22 commonsense commonsense ADJ bracis-33588 45 23 understanding understanding NOUN bracis-33588 45 24 , , PUNCT bracis-33588 45 25 and and CCONJ bracis-33588 45 26 logical logical ADJ bracis-33588 45 27 reasoning reasoning NOUN bracis-33588 45 28 abilities ability NOUN bracis-33588 45 29 . . PUNCT bracis-33588 46 1 the the DET bracis-33588 46 2 aim aim NOUN bracis-33588 46 3 is be AUX bracis-33588 46 4 to to PART bracis-33588 46 5 generate generate VERB bracis-33588 46 6 a a DET bracis-33588 46 7 sequence sequence NOUN bracis-33588 46 8 of of ADP bracis-33588 46 9 actions action NOUN bracis-33588 46 10 \((a_1 \((a_1 PROPN bracis-33588 46 11 , , PUNCT bracis-33588 46 12 a_2 a_2 PROPN bracis-33588 46 13 , , PUNCT bracis-33588 46 14 \dots \dot NOUN bracis-33588 46 15 , , PUNCT bracis-33588 46 16 a_n)\ a_n)\ PROPN bracis-33588 46 17 ) ) PUNCT bracis-33588 46 18 to to PART bracis-33588 46 19 reach reach VERB bracis-33588 46 20 a a DET bracis-33588 46 21 desired desire VERB bracis-33588 46 22 final final ADJ bracis-33588 46 23 state state NOUN bracis-33588 46 24 . . PUNCT bracis-33588 47 1 graph graph NOUN bracis-33588 47 2 structures structure NOUN bracis-33588 47 3 have have AUX bracis-33588 47 4 been be AUX bracis-33588 47 5 widely widely ADV bracis-33588 47 6 used use VERB bracis-33588 47 7 to to PART bracis-33588 47 8 enhance enhance VERB bracis-33588 47 9 the the DET bracis-33588 47 10 reasoning reasoning NOUN bracis-33588 47 11 capabilities capability NOUN bracis-33588 47 12 of of ADP bracis-33588 47 13 llms llm NOUN bracis-33588 47 14 , , PUNCT bracis-33588 47 15 with with ADP bracis-33588 47 16 empirical empirical ADJ bracis-33588 47 17 evidence evidence NOUN bracis-33588 47 18 showing show VERB bracis-33588 47 19 significant significant ADJ bracis-33588 47 20 improvements improvement NOUN bracis-33588 47 21 in in ADP bracis-33588 47 22 solving solve VERB bracis-33588 47 23 complex complex ADJ bracis-33588 47 24 problems problem NOUN bracis-33588 47 25 [ [ X bracis-33588 47 26 13 13 NUM bracis-33588 47 27 , , PUNCT bracis-33588 47 28 17 17 NUM bracis-33588 47 29 , , PUNCT bracis-33588 47 30 19 19 NUM bracis-33588 47 31 ] ] PUNCT bracis-33588 47 32 . . PUNCT bracis-33588 48 1 the the DET bracis-33588 48 2 cot cot NOUN bracis-33588 48 3 approach approach NOUN bracis-33588 48 4 is be AUX bracis-33588 48 5 fundamental fundamental ADJ bracis-33588 48 6 , , PUNCT bracis-33588 48 7 modeling model VERB bracis-33588 48 8 the the DET bracis-33588 48 9 inference inference NOUN bracis-33588 48 10 process process NOUN bracis-33588 48 11 as as ADP bracis-33588 48 12 a a DET bracis-33588 48 13 linear linear ADJ bracis-33588 48 14 chain chain NOUN bracis-33588 48 15 and and CCONJ bracis-33588 48 16 explicitly explicitly ADV bracis-33588 48 17 capturing capture VERB bracis-33588 48 18 intermediate intermediate ADJ bracis-33588 48 19 reasoning reasoning NOUN bracis-33588 48 20 steps step NOUN bracis-33588 48 21 . . PUNCT bracis-33588 49 1 building build VERB bracis-33588 49 2 on on ADP bracis-33588 49 3 cot cot NOUN bracis-33588 49 4 , , PUNCT bracis-33588 49 5 methods method NOUN bracis-33588 49 6 like like ADP bracis-33588 49 7 tree tree NOUN bracis-33588 49 8 - - PUNCT bracis-33588 49 9 of of ADP bracis-33588 49 10 - - PUNCT bracis-33588 49 11 thoughts thought NOUN bracis-33588 49 12 and and CCONJ bracis-33588 49 13 graph graph NOUN bracis-33588 49 14 - - PUNCT bracis-33588 49 15 of of ADP bracis-33588 49 16 - - PUNCT bracis-33588 49 17 thoughts thought NOUN bracis-33588 49 18 introduce introduce VERB bracis-33588 49 19 more more ADJ bracis-33588 49 20 complex complex ADJ bracis-33588 49 21 topologies topology NOUN bracis-33588 49 22 , , PUNCT bracis-33588 49 23 including include VERB bracis-33588 49 24 branches branch NOUN bracis-33588 49 25 , , PUNCT bracis-33588 49 26 backtracking backtracking NOUN bracis-33588 49 27 , , PUNCT bracis-33588 49 28 and and CCONJ bracis-33588 49 29 aggregating aggregate VERB bracis-33588 49 30 reasoning reasoning NOUN bracis-33588 49 31 steps step NOUN bracis-33588 49 32 . . PUNCT bracis-33588 50 1 nonetheless nonetheless ADV bracis-33588 50 2 , , PUNCT bracis-33588 50 3 incorporating incorporate VERB bracis-33588 50 4 prompt prompt ADJ bracis-33588 50 5 topologies topology NOUN bracis-33588 50 6 alone alone ADV bracis-33588 50 7 is be AUX bracis-33588 50 8 insufficient insufficient ADJ bracis-33588 50 9 to to PART bracis-33588 50 10 tackle tackle VERB bracis-33588 50 11 planning planning NOUN bracis-33588 50 12 problems problem NOUN bracis-33588 50 13 . . PUNCT bracis-33588 51 1 studies study NOUN bracis-33588 51 2 such such ADJ bracis-33588 51 3 as as ADP bracis-33588 51 4 [ [ X bracis-33588 51 5 15 15 NUM bracis-33588 51 6 ] ] PUNCT bracis-33588 51 7 underscore underscore VERB bracis-33588 51 8 the the DET bracis-33588 51 9 difficulties difficulty NOUN bracis-33588 51 10 llms llm NOUN bracis-33588 51 11 face face VERB bracis-33588 51 12 in in ADP bracis-33588 51 13 generating generate VERB bracis-33588 51 14 valid valid ADJ bracis-33588 51 15 and and CCONJ bracis-33588 51 16 optimal optimal ADJ bracis-33588 51 17 plans plan NOUN bracis-33588 51 18 . . PUNCT bracis-33588 52 1 recent recent ADJ bracis-33588 52 2 research research NOUN bracis-33588 52 3 , , PUNCT bracis-33588 52 4 exemplified exemplify VERB bracis-33588 52 5 in in ADP bracis-33588 52 6 [ [ X bracis-33588 52 7 10 10 NUM bracis-33588 52 8 , , PUNCT bracis-33588 52 9 12 12 NUM bracis-33588 52 10 ] ] PUNCT bracis-33588 52 11 , , PUNCT bracis-33588 52 12 suggests suggest VERB bracis-33588 52 13 that that SCONJ bracis-33588 52 14 integrating integrate VERB bracis-33588 52 15 feedback feedback NOUN bracis-33588 52 16 loops loop NOUN bracis-33588 52 17 can can AUX bracis-33588 52 18 significantly significantly ADV bracis-33588 52 19 improve improve VERB bracis-33588 52 20 llms llm NOUN bracis-33588 52 21 ’ ' PUNCT bracis-33588 52 22 accuracy accuracy NOUN bracis-33588 52 23 in in ADP bracis-33588 52 24 planning planning NOUN bracis-33588 52 25 tasks task NOUN bracis-33588 52 26 . . PUNCT bracis-33588 53 1 consequently consequently ADV bracis-33588 53 2 , , PUNCT bracis-33588 53 3 implementing implement VERB bracis-33588 53 4 a a DET bracis-33588 53 5 mechanism mechanism NOUN bracis-33588 53 6 for for ADP bracis-33588 53 7 validating validate VERB bracis-33588 53 8 the the DET bracis-33588 53 9 model model NOUN bracis-33588 53 10 ’s ’s PART bracis-33588 53 11 outputs output NOUN bracis-33588 53 12 and and CCONJ bracis-33588 53 13 providing provide VERB bracis-33588 53 14 feedback feedback NOUN bracis-33588 53 15 emerges emerge NOUN bracis-33588 53 16 as as ADP bracis-33588 53 17 a a DET bracis-33588 53 18 promising promising ADJ bracis-33588 53 19 strategy strategy NOUN bracis-33588 53 20 for for ADP bracis-33588 53 21 enhancing enhance VERB bracis-33588 53 22 its its PRON bracis-33588 53 23 performance performance NOUN bracis-33588 53 24 . . PUNCT bracis-33588 54 1 2.2 2.2 NUM bracis-33588 54 2 planning planning NOUN bracis-33588 54 3 task task NOUN bracis-33588 54 4 definition definition NOUN bracis-33588 54 5 and and CCONJ bracis-33588 54 6     SPACE bracis-33588 54 7 finite finite ADJ bracis-33588 54 8 - - ADJ bracis-33588 54 9 state state ADJ bracis-33588 54 10 machines machine NOUN bracis-33588 54 11 a a DET bracis-33588 54 12 planning planning NOUN bracis-33588 54 13 problem problem NOUN bracis-33588 54 14 can can AUX bracis-33588 54 15 be be AUX bracis-33588 54 16 defined define VERB bracis-33588 54 17 as as ADP bracis-33588 54 18 a a DET bracis-33588 54 19 tuple tuple NOUN bracis-33588 54 20 \(\mathcal \(\mathcal NOUN bracis-33588 54 21 { { PUNCT bracis-33588 54 22 p p NOUN bracis-33588 54 23 } } PUNCT bracis-33588 54 24 = = SYM bracis-33588 54 25 ( ( PUNCT bracis-33588 54 26 \mathcal \mathcal PROPN bracis-33588 54 27 { { PUNCT bracis-33588 54 28 s s PROPN bracis-33588 54 29 } } PUNCT bracis-33588 54 30 , , PUNCT bracis-33588 54 31 \mathcal \mathcal PROPN bracis-33588 54 32 { { PUNCT bracis-33588 54 33 a a NOUN bracis-33588 54 34 } } PUNCT bracis-33588 54 35 , , PUNCT bracis-33588 54 36 s_0 s_0 ADJ bracis-33588 54 37 , , PUNCT bracis-33588 54 38 \mathcal \mathcal PROPN bracis-33588 54 39 { { PUNCT bracis-33588 54 40 g})\ g})\ NOUN bracis-33588 54 41 ) ) PUNCT bracis-33588 55 1 [ [ X bracis-33588 55 2 11 11 NUM bracis-33588 55 3 ] ] PUNCT bracis-33588 55 4 , , PUNCT bracis-33588 55 5 where where SCONJ bracis-33588 55 6 : : PUNCT bracis-33588 55 7 \(\mathcal \(\mathcal ADJ bracis-33588 55 8 { { PUNCT bracis-33588 55 9 s}\ s}\ NUM bracis-33588 55 10 ) ) PUNCT bracis-33588 55 11 is be AUX bracis-33588 55 12 a a DET bracis-33588 55 13 finite finite ADJ bracis-33588 55 14 set set NOUN bracis-33588 55 15 of of ADP bracis-33588 55 16 states state NOUN bracis-33588 55 17 . . PUNCT bracis-33588 56 1 each each DET bracis-33588 56 2 state state NOUN bracis-33588 56 3 \(s \( VERB bracis-33588 56 4 \in \in PROPN bracis-33588 56 5 \mathcal \mathcal PROPN bracis-33588 56 6 { { PUNCT bracis-33588 56 7 s}\ s}\ PROPN bracis-33588 56 8 ) ) PUNCT bracis-33588 56 9 is be AUX bracis-33588 56 10 a a DET bracis-33588 56 11 complete complete ADJ bracis-33588 56 12 assignment assignment NOUN bracis-33588 56 13 of of ADP bracis-33588 56 14 values value NOUN bracis-33588 56 15 to to ADP bracis-33588 56 16 a a DET bracis-33588 56 17 set set NOUN bracis-33588 56 18 of of ADP bracis-33588 56 19 state state NOUN bracis-33588 56 20 variables variable NOUN bracis-33588 56 21 ( ( PUNCT bracis-33588 56 22 or or CCONJ bracis-33588 56 23 fluents fluent NOUN bracis-33588 56 24 ) ) PUNCT bracis-33588 56 25 . . PUNCT bracis-33588 57 1 \(s_0 \(s_0 PROPN bracis-33588 57 2 \in \in PROPN bracis-33588 57 3 \mathcal \mathcal PROPN bracis-33588 57 4 { { PUNCT bracis-33588 57 5 s}\ s}\ PROPN bracis-33588 57 6 ) ) PUNCT bracis-33588 57 7 is be AUX bracis-33588 57 8 the the DET bracis-33588 57 9 initial initial ADJ bracis-33588 57 10 state state NOUN bracis-33588 57 11 . . PUNCT bracis-33588 58 1 \(\mathcal \(\mathcal ADJ bracis-33588 58 2 { { PUNCT bracis-33588 58 3 g g PROPN bracis-33588 58 4 } } PUNCT bracis-33588 58 5 \subset \subset PROPN bracis-33588 58 6 \mathcal \mathcal PROPN bracis-33588 58 7 { { PUNCT bracis-33588 58 8 s}\ s}\ PROPN bracis-33588 58 9 ) ) PUNCT bracis-33588 58 10 is be AUX bracis-33588 58 11 the the DET bracis-33588 58 12 set set NOUN bracis-33588 58 13 of of ADP bracis-33588 58 14 goal goal NOUN bracis-33588 58 15 states state NOUN bracis-33588 58 16 where where SCONJ bracis-33588 58 17 the the DET bracis-33588 58 18 goal goal NOUN bracis-33588 58 19 condition condition NOUN bracis-33588 58 20 is be AUX bracis-33588 58 21 satisfied satisfied ADJ bracis-33588 58 22 . . PUNCT bracis-33588 59 1 this this DET bracis-33588 59 2 condition condition NOUN bracis-33588 59 3 is be AUX bracis-33588 59 4 specified specify VERB bracis-33588 59 5 as as ADP bracis-33588 59 6 a a DET bracis-33588 59 7 conjunction conjunction NOUN bracis-33588 59 8 of of ADP bracis-33588 59 9 literals literal NOUN bracis-33588 59 10 . . PUNCT bracis-33588 60 1 \(\mathcal \(\mathcal ADJ bracis-33588 60 2 { { PUNCT bracis-33588 60 3 a}\ a}\ NUM bracis-33588 60 4 ) ) PUNCT bracis-33588 60 5 is be AUX bracis-33588 60 6 the the DET bracis-33588 60 7 set set NOUN bracis-33588 60 8 of of ADP bracis-33588 60 9 actions action NOUN bracis-33588 60 10 , , PUNCT bracis-33588 60 11 where where SCONJ bracis-33588 60 12 each each DET bracis-33588 60 13 action action NOUN bracis-33588 60 14 \(a \(a PROPN bracis-33588 60 15 \in \in PROPN bracis-33588 60 16 \mathcal \mathcal PROPN bracis-33588 60 17 { { PUNCT bracis-33588 60 18 a}\ a}\ NUM bracis-33588 60 19 ) ) PUNCT bracis-33588 60 20 is be AUX bracis-33588 60 21 defined define VERB bracis-33588 60 22 by by ADP bracis-33588 60 23 its its PRON bracis-33588 60 24 preconditions precondition NOUN bracis-33588 60 25 and and CCONJ bracis-33588 60 26 effects effect NOUN bracis-33588 60 27 : : PUNCT bracis-33588 60 28 preconditions precondition NOUN bracis-33588 60 29 \(\textit{pre}(a)\ \(\textit{pre}(a)\ PROPN bracis-33588 60 30 ) ) PUNCT bracis-33588 60 31 are be AUX bracis-33588 60 32 a a DET bracis-33588 60 33 set set NOUN bracis-33588 60 34 of of ADP bracis-33588 60 35 literals literal NOUN bracis-33588 60 36 that that PRON bracis-33588 60 37 must must AUX bracis-33588 60 38 be be AUX bracis-33588 60 39 satisfied satisfied ADJ bracis-33588 60 40 for for SCONJ bracis-33588 60 41 the the DET bracis-33588 60 42 action action NOUN bracis-33588 60 43 to to PART bracis-33588 60 44 be be AUX bracis-33588 60 45 applied apply VERB bracis-33588 60 46 . . PUNCT bracis-33588 61 1 effects effect NOUN bracis-33588 61 2 \(\textit{eff}(a)\ \(\textit{eff}(a)\ PROPN bracis-33588 61 3 ) ) PUNCT bracis-33588 61 4 are be AUX bracis-33588 61 5 a a DET bracis-33588 61 6 set set NOUN bracis-33588 61 7 of of ADP bracis-33588 61 8 literals literal NOUN bracis-33588 61 9 that that PRON bracis-33588 61 10 describe describe VERB bracis-33588 61 11 how how SCONJ bracis-33588 61 12 the the DET bracis-33588 61 13 state state NOUN bracis-33588 61 14 changes change VERB bracis-33588 61 15 after after ADP bracis-33588 61 16 applying apply VERB bracis-33588 61 17 the the DET bracis-33588 61 18 action action NOUN bracis-33588 61 19 . . PUNCT bracis-33588 62 1 we we PRON bracis-33588 62 2 define define VERB bracis-33588 62 3 a a DET bracis-33588 62 4 transition transition NOUN bracis-33588 62 5 model model NOUN bracis-33588 62 6 \(\gamma \(\gamma NOUN bracis-33588 62 7 : : PUNCT bracis-33588 62 8 \mathcal \mathcal ADJ bracis-33588 62 9 { { PUNCT bracis-33588 62 10 s s NOUN bracis-33588 62 11 } } PUNCT bracis-33588 62 12 \times \times ADP bracis-33588 62 13 \mathcal \mathcal PROPN bracis-33588 62 14 { { PUNCT bracis-33588 62 15 a a NOUN bracis-33588 62 16 } } PUNCT bracis-33588 62 17 \rightarrow \rightarrow PROPN bracis-33588 62 18 \mathcal \mathcal PROPN bracis-33588 62 19 { { PUNCT bracis-33588 62 20 s}\ s}\ PROPN bracis-33588 62 21 ) ) PUNCT bracis-33588 62 22 that that PRON bracis-33588 62 23 describes describe VERB bracis-33588 62 24 deterministic deterministic ADJ bracis-33588 62 25 state state NOUN bracis-33588 62 26 transitions transition NOUN bracis-33588 62 27 in in ADP bracis-33588 62 28 the the DET bracis-33588 62 29 planning planning NOUN bracis-33588 62 30 problem problem NOUN bracis-33588 62 31 . . PUNCT bracis-33588 63 1 if if SCONJ bracis-33588 63 2 a a DET bracis-33588 63 3 state state NOUN bracis-33588 63 4 \(s \(s ADP bracis-33588 63 5 \in \in PROPN bracis-33588 63 6 \mathcal \mathcal PROPN bracis-33588 63 7 { { PUNCT bracis-33588 63 8 s}\ s}\ PROPN bracis-33588 63 9 ) ) PUNCT bracis-33588 63 10 satisfies satisfie NOUN bracis-33588 63 11 \(\textit{pre}(a)\ \(\textit{pre}(a)\ PROPN bracis-33588 63 12 ) ) PUNCT bracis-33588 63 13 , , PUNCT bracis-33588 63 14 then then ADV bracis-33588 63 15 \(\gamma \(\gamma X bracis-33588 63 16 ( ( PUNCT bracis-33588 63 17 s s X bracis-33588 63 18 , , PUNCT bracis-33588 63 19 a a PRON bracis-33588 63 20 ) ) PUNCT bracis-33588 63 21 = = SYM bracis-33588 63 22 s'\ s'\ PROPN bracis-33588 63 23 ) ) PUNCT bracis-33588 63 24 , , PUNCT bracis-33588 63 25 where where SCONJ bracis-33588 63 26 \(s \( NOUN bracis-33588 63 27 ' ' PART bracis-33588 63 28 \in \in PROPN bracis-33588 63 29 \mathcal \mathcal PROPN bracis-33588 63 30 { { PUNCT bracis-33588 63 31 s}\ s}\ PROPN bracis-33588 63 32 ) ) PUNCT bracis-33588 63 33 is be AUX bracis-33588 63 34 the the DET bracis-33588 63 35 new new ADJ bracis-33588 63 36 state state NOUN bracis-33588 63 37 resulting result VERB bracis-33588 63 38 from from ADP bracis-33588 63 39 applying apply VERB bracis-33588 63 40 \(\textit{eff}(a)\ \(\textit{eff}(a)\ PROPN bracis-33588 63 41 ) ) PUNCT bracis-33588 63 42 to to ADP bracis-33588 63 43 s. s. PROPN bracis-33588 63 44 if if SCONJ bracis-33588 63 45 s s PROPN bracis-33588 63 46 does do AUX bracis-33588 63 47 not not PART bracis-33588 63 48 satisfy satisfy VERB bracis-33588 63 49 \(\textit{pre}(a)\ \(\textit{pre}(a)\ PROPN bracis-33588 63 50 ) ) PUNCT bracis-33588 63 51 , , PUNCT bracis-33588 63 52 then then ADV bracis-33588 63 53 the the DET bracis-33588 63 54 action action NOUN bracis-33588 63 55 can can AUX bracis-33588 63 56 not not PART bracis-33588 63 57 be be AUX bracis-33588 63 58 applied apply VERB bracis-33588 63 59 . . PUNCT bracis-33588 64 1 the the DET bracis-33588 64 2 planning planning NOUN bracis-33588 64 3 domain domain NOUN bracis-33588 64 4 definition definition NOUN bracis-33588 64 5 language language NOUN bracis-33588 64 6 ( ( PUNCT bracis-33588 64 7 pddl pddl NOUN bracis-33588 64 8 ) ) PUNCT bracis-33588 64 9 is be AUX bracis-33588 64 10 commonly commonly ADV bracis-33588 64 11 used use VERB bracis-33588 64 12 to to PART bracis-33588 64 13 represent represent VERB bracis-33588 64 14 planning planning NOUN bracis-33588 64 15 problems problem NOUN bracis-33588 64 16 , , PUNCT bracis-33588 64 17 allowing allow VERB bracis-33588 64 18 for for ADP bracis-33588 64 19 the the DET bracis-33588 64 20 encoding encoding NOUN bracis-33588 64 21 of of ADP bracis-33588 64 22 a a DET bracis-33588 64 23 problem problem NOUN bracis-33588 64 24 by by ADP bracis-33588 64 25 defining define VERB bracis-33588 64 26 its its PRON bracis-33588 64 27 domain domain NOUN bracis-33588 64 28 ( ( PUNCT bracis-33588 64 29 types type NOUN bracis-33588 64 30 of of ADP bracis-33588 64 31 objects object NOUN bracis-33588 64 32 , , PUNCT bracis-33588 64 33 predicates predicate NOUN bracis-33588 64 34 , , PUNCT bracis-33588 64 35 and and CCONJ bracis-33588 64 36 actions action NOUN bracis-33588 64 37 ) ) PUNCT bracis-33588 64 38 and and CCONJ bracis-33588 64 39 its its PRON bracis-33588 64 40 problem problem NOUN bracis-33588 64 41 instance instance NOUN bracis-33588 64 42 ( ( PUNCT bracis-33588 64 43 initial initial ADJ bracis-33588 64 44 state state NOUN bracis-33588 64 45 and and CCONJ bracis-33588 64 46 goal goal NOUN bracis-33588 64 47 state state NOUN bracis-33588 64 48 ) ) PUNCT bracis-33588 64 49 . . PUNCT bracis-33588 65 1 there there PRON bracis-33588 65 2 is be VERB bracis-33588 65 3 extensive extensive ADJ bracis-33588 65 4 literature literature NOUN bracis-33588 65 5 on on ADP bracis-33588 65 6 planning plan VERB bracis-33588 65 7 algorithms algorithm NOUN bracis-33588 65 8 for for ADP bracis-33588 65 9 various various ADJ bracis-33588 65 10 tasks task NOUN bracis-33588 65 11 . . PUNCT bracis-33588 66 1 an an DET bracis-33588 66 2 ai ai PROPN bracis-33588 66 3 planner planner NOUN bracis-33588 66 4 takes take VERB bracis-33588 66 5 a a DET bracis-33588 66 6 pddl pddl NOUN bracis-33588 66 7 domain domain NOUN bracis-33588 66 8 and and CCONJ bracis-33588 66 9 problem problem NOUN bracis-33588 66 10 as as ADP bracis-33588 66 11 input input NOUN bracis-33588 66 12 and and CCONJ bracis-33588 66 13 produces produce VERB bracis-33588 66 14 a a DET bracis-33588 66 15 solution solution NOUN bracis-33588 66 16 . . PUNCT bracis-33588 67 1 most most ADJ bracis-33588 67 2 state state NOUN bracis-33588 67 3 - - PUNCT bracis-33588 67 4 of of ADP bracis-33588 67 5 - - PUNCT bracis-33588 67 6 the the DET bracis-33588 67 7 - - PUNCT bracis-33588 67 8 art art NOUN bracis-33588 67 9 planners planner NOUN bracis-33588 67 10 [ [ X bracis-33588 67 11 6 6 NUM bracis-33588 67 12 , , PUNCT bracis-33588 67 13 7 7 NUM bracis-33588 67 14 ] ] PUNCT bracis-33588 67 15 are be AUX bracis-33588 67 16 variants variant NOUN bracis-33588 67 17 of of ADP bracis-33588 67 18 heuristic heuristic NOUN bracis-33588 67 19 - - PUNCT bracis-33588 67 20 based base VERB bracis-33588 67 21 forward forward ADJ bracis-33588 67 22 search search NOUN bracis-33588 67 23 , , PUNCT bracis-33588 67 24 where where SCONJ bracis-33588 67 25 pddl pddl NOUN bracis-33588 67 26 encodings encoding NOUN bracis-33588 67 27 are be AUX bracis-33588 67 28 used use VERB bracis-33588 67 29 to to PART bracis-33588 67 30 automatically automatically ADV bracis-33588 67 31 derive derive VERB bracis-33588 67 32 a a DET bracis-33588 67 33 heuristic heuristic ADJ bracis-33588 67 34 function function NOUN bracis-33588 67 35 . . PUNCT bracis-33588 68 1 another another DET bracis-33588 68 2 common common ADJ bracis-33588 68 3 approach approach NOUN bracis-33588 68 4 is be AUX bracis-33588 68 5 the the DET bracis-33588 68 6 integration integration NOUN bracis-33588 68 7 of of ADP bracis-33588 68 8 markov markov NOUN bracis-33588 68 9 decision decision NOUN bracis-33588 68 10 processes process NOUN bracis-33588 68 11 ( ( PUNCT bracis-33588 68 12 mdps mdps NOUN bracis-33588 68 13 ) ) PUNCT bracis-33588 68 14 into into ADP bracis-33588 68 15 automated automate VERB bracis-33588 68 16 planning planning NOUN bracis-33588 68 17 . . PUNCT bracis-33588 69 1 mdps mdps PROPN bracis-33588 69 2 are be AUX bracis-33588 69 3 best well ADV bracis-33588 69 4 suited suit VERB bracis-33588 69 5 for for ADP bracis-33588 69 6 modeling model VERB bracis-33588 69 7 stochastic stochastic NOUN bracis-33588 69 8 processes process NOUN bracis-33588 69 9 where where SCONJ bracis-33588 69 10 maximizing maximize VERB bracis-33588 69 11 rewards reward NOUN bracis-33588 69 12 in in ADP bracis-33588 69 13 uncertain uncertain ADJ bracis-33588 69 14 contexts contexts NOUN bracis-33588 69 15 is be AUX bracis-33588 69 16 crucial crucial ADJ bracis-33588 69 17 [ [ X bracis-33588 69 18 4 4 NUM bracis-33588 69 19 , , PUNCT bracis-33588 69 20 11 11 NUM bracis-33588 69 21 ] ] PUNCT bracis-33588 69 22 . . PUNCT bracis-33588 70 1 however however ADV bracis-33588 70 2 , , PUNCT bracis-33588 70 3 many many ADJ bracis-33588 70 4 mission mission NOUN bracis-33588 70 5 - - PUNCT bracis-33588 70 6 critical critical ADJ bracis-33588 70 7 applications application NOUN bracis-33588 70 8 are be AUX bracis-33588 70 9 modeled model VERB bracis-33588 70 10 using use VERB bracis-33588 70 11 deterministic deterministic ADJ bracis-33588 70 12 finite finite ADJ bracis-33588 70 13 - - ADJ bracis-33588 70 14 state state ADJ bracis-33588 70 15 machines machine NOUN bracis-33588 70 16 due due ADP bracis-33588 70 17 to to ADP bracis-33588 70 18 reliability reliability NOUN bracis-33588 70 19 and and CCONJ bracis-33588 70 20 predictability predictability NOUN bracis-33588 70 21 requirements requirement NOUN bracis-33588 70 22 . . PUNCT bracis-33588 71 1 building build VERB bracis-33588 71 2 on on ADP bracis-33588 71 3 this this DET bracis-33588 71 4 foundation foundation NOUN bracis-33588 71 5 , , PUNCT bracis-33588 71 6 our our PRON bracis-33588 71 7 work work NOUN bracis-33588 71 8 investigates investigate VERB bracis-33588 71 9 whether whether SCONJ bracis-33588 71 10 simply simply ADV bracis-33588 71 11 imposing impose VERB bracis-33588 71 12 an an DET bracis-33588 71 13 alphabet alphabet NOUN bracis-33588 71 14 of of ADP bracis-33588 71 15 interactively interactively ADV bracis-33588 71 16 validated validate VERB bracis-33588 71 17 symbols symbol NOUN bracis-33588 71 18 can can AUX bracis-33588 71 19 enhance enhance VERB bracis-33588 71 20 llms llm NOUN bracis-33588 71 21 ’ ' PUNCT bracis-33588 71 22 ability ability NOUN bracis-33588 71 23 to to PART bracis-33588 71 24 solve solve VERB bracis-33588 71 25 planning planning NOUN bracis-33588 71 26 tasks task NOUN bracis-33588 71 27 . . PUNCT bracis-33588 72 1 this this DET bracis-33588 72 2 restriction restriction NOUN bracis-33588 72 3 of of ADP bracis-33588 72 4 possible possible ADJ bracis-33588 72 5 actions action NOUN bracis-33588 72 6 associated associate VERB bracis-33588 72 7 with with ADP bracis-33588 72 8 deterministic deterministic ADJ bracis-33588 72 9 transitions transition NOUN bracis-33588 72 10 is be AUX bracis-33588 72 11 best well ADV bracis-33588 72 12 encapsulated encapsulate VERB bracis-33588 72 13 by by ADP bracis-33588 72 14 the the DET bracis-33588 72 15 fsms fsm NOUN bracis-33588 72 16 formalism formalism NOUN bracis-33588 72 17 . . PUNCT bracis-33588 73 1 a a DET bracis-33588 73 2 mealy mealy ADJ bracis-33588 73 3 machine machine NOUN bracis-33588 73 4 is be AUX bracis-33588 73 5 an an DET bracis-33588 73 6 fsm fsm NOUN bracis-33588 73 7 defined define VERB bracis-33588 73 8 by by ADP bracis-33588 73 9 a a DET bracis-33588 73 10 6 6 NUM bracis-33588 73 11 - - PUNCT bracis-33588 73 12 tuple tuple NOUN bracis-33588 73 13 \((\mathcal \((\mathcal PROPN bracis-33588 73 14 { { PUNCT bracis-33588 73 15 s s NOUN bracis-33588 73 16 } } PUNCT bracis-33588 73 17 , , PUNCT bracis-33588 73 18 s_0 s_0 ADJ bracis-33588 73 19 , , PUNCT bracis-33588 73 20 \varsigma \varsigma PROPN bracis-33588 73 21 , , PUNCT bracis-33588 73 22 \varlambda \varlambda INTJ bracis-33588 73 23 , , PUNCT bracis-33588 73 24 \mathcal \mathcal PROPN bracis-33588 73 25 { { PUNCT bracis-33588 73 26 t t NOUN bracis-33588 73 27 } } PUNCT bracis-33588 73 28 , , PUNCT bracis-33588 73 29 \mathcal \mathcal PROPN bracis-33588 73 30 { { PUNCT bracis-33588 73 31 o})\ o})\ NOUN bracis-33588 73 32 ) ) PUNCT bracis-33588 73 33 , , PUNCT bracis-33588 73 34 where where SCONJ bracis-33588 73 35 : : PUNCT bracis-33588 73 36 \(\mathcal \(\mathcal ADJ bracis-33588 73 37 { { PUNCT bracis-33588 73 38 s}\ s}\ NUM bracis-33588 73 39 ) ) PUNCT bracis-33588 73 40 is be AUX bracis-33588 73 41 a a DET bracis-33588 73 42 finite finite ADJ bracis-33588 73 43 set set NOUN bracis-33588 73 44 of of ADP bracis-33588 73 45 states state NOUN bracis-33588 73 46 . . PUNCT bracis-33588 74 1 \(s_0 \(s_0 PROPN bracis-33588 74 2 \in \in PROPN bracis-33588 74 3 \mathcal \mathcal PROPN bracis-33588 74 4 { { PUNCT bracis-33588 74 5 s}\ s}\ PROPN bracis-33588 74 6 ) ) PUNCT bracis-33588 74 7 is be AUX bracis-33588 74 8 the the DET bracis-33588 74 9 initial initial ADJ bracis-33588 74 10 state state NOUN bracis-33588 74 11 . . PUNCT bracis-33588 75 1 \(\varsigma \(\varsigma X bracis-33588 75 2 \ \ NOUN bracis-33588 75 3 ) ) PUNCT bracis-33588 75 4 is be AUX bracis-33588 75 5 a a DET bracis-33588 75 6 finite finite ADJ bracis-33588 75 7 set set NOUN bracis-33588 75 8 of of ADP bracis-33588 75 9 input input NOUN bracis-33588 75 10 alphabet alphabet PROPN bracis-33588 75 11 . . PUNCT bracis-33588 76 1 \(\varlambda \(\varlambda PROPN bracis-33588 76 2 \ \ PROPN bracis-33588 76 3 ) ) PUNCT bracis-33588 76 4 is be AUX bracis-33588 76 5 a a DET bracis-33588 76 6 finite finite ADJ bracis-33588 76 7 set set NOUN bracis-33588 76 8 of of ADP bracis-33588 76 9 output output NOUN bracis-33588 76 10 alphabet alphabet PROPN bracis-33588 76 11 . . PUNCT bracis-33588 77 1 \(\mathcal \(\mathcal ADJ bracis-33588 77 2 { { PUNCT bracis-33588 77 3 t t NOUN bracis-33588 77 4 } } PUNCT bracis-33588 77 5 : : PUNCT bracis-33588 77 6 \mathcal \mathcal PROPN bracis-33588 77 7 { { PUNCT bracis-33588 77 8 s s NOUN bracis-33588 77 9 } } PUNCT bracis-33588 77 10 \times \time NOUN bracis-33588 77 11 \varsigma \varsigma PROPN bracis-33588 77 12 \rightarrow \rightarrow PROPN bracis-33588 77 13 \mathcal \mathcal PROPN bracis-33588 77 14 { { PUNCT bracis-33588 77 15 s}\ s}\ PROPN bracis-33588 77 16 ) ) PUNCT bracis-33588 77 17 is be AUX bracis-33588 77 18 a a DET bracis-33588 77 19 transition transition NOUN bracis-33588 77 20 function function NOUN bracis-33588 77 21 . . PUNCT bracis-33588 78 1 \(\mathcal \(\mathcal ADJ bracis-33588 78 2 { { PUNCT bracis-33588 78 3 o o NOUN bracis-33588 78 4 } } PUNCT bracis-33588 78 5 : : PUNCT bracis-33588 78 6 \mathcal \mathcal X bracis-33588 78 7 { { PUNCT bracis-33588 78 8 s s NOUN bracis-33588 78 9 } } PUNCT bracis-33588 78 10 \times \time NOUN bracis-33588 78 11 \varsigma \varsigma PROPN bracis-33588 78 12 \rightarrow \rightarrow PROPN bracis-33588 78 13 \varlambda \varlambda PROPN bracis-33588 78 14 \ \ NOUN bracis-33588 78 15 ) ) PUNCT bracis-33588 78 16 is be AUX bracis-33588 78 17 the the DET bracis-33588 78 18 output output NOUN bracis-33588 78 19 function function NOUN bracis-33588 78 20 . . PUNCT bracis-33588 79 1 3 3 NUM bracis-33588 79 2 associating associate VERB bracis-33588 79 3 llms llm NOUN bracis-33588 79 4 to to PART bracis-33588 79 5     SPACE bracis-33588 79 6 fsms fsm NOUN bracis-33588 79 7 in in ADP bracis-33588 79 8 this this DET bracis-33588 79 9 setup setup NOUN bracis-33588 79 10 , , PUNCT bracis-33588 79 11 we we PRON bracis-33588 79 12 denote denote VERB bracis-33588 79 13 the the DET bracis-33588 79 14 llm llm NOUN bracis-33588 79 15 as as ADP bracis-33588 79 16 a a DET bracis-33588 79 17 function function NOUN bracis-33588 79 18 \(l(p \(l(p NOUN bracis-33588 79 19 ) ) PUNCT bracis-33588 79 20 = = PUNCT bracis-33588 79 21 t\ t\ PROPN bracis-33588 79 22 ) ) PUNCT bracis-33588 79 23 , , PUNCT bracis-33588 79 24 where where SCONJ bracis-33588 79 25 a a PRON bracis-33588 79 26 prompt prompt ADJ bracis-33588 79 27 \(p \(p PROPN bracis-33588 79 28 \in \in PROPN bracis-33588 79 29 \mathbf \mathbf PROPN bracis-33588 79 30 { { PUNCT bracis-33588 79 31 v^*}\ v^*}\ NOUN bracis-33588 79 32 ) ) PUNCT bracis-33588 79 33 is be AUX bracis-33588 79 34 provided provide VERB bracis-33588 79 35 , , PUNCT bracis-33588 79 36 and and CCONJ bracis-33588 79 37 the the DET bracis-33588 79 38 output output NOUN bracis-33588 79 39 \(t \(t PROPN bracis-33588 79 40 \in \in PROPN bracis-33588 79 41 \mathbf \mathbf PROPN bracis-33588 79 42 { { PUNCT bracis-33588 79 43 v^*}\ v^*}\ NOUN bracis-33588 79 44 ) ) PUNCT bracis-33588 79 45 is be AUX bracis-33588 79 46 a a DET bracis-33588 79 47 text text NOUN bracis-33588 79 48 response response NOUN bracis-33588 79 49 . . PUNCT bracis-33588 80 1 note note VERB bracis-33588 80 2 that that SCONJ bracis-33588 80 3 both both CCONJ bracis-33588 80 4 input input NOUN bracis-33588 80 5 and and CCONJ bracis-33588 80 6 output output NOUN bracis-33588 80 7 can can AUX bracis-33588 80 8 be be AUX bracis-33588 80 9 any any DET bracis-33588 80 10 sequence sequence NOUN bracis-33588 80 11 of of ADP bracis-33588 80 12 tokens token NOUN bracis-33588 80 13 \((\alpha \((\alpha ADP bracis-33588 80 14 _ _ NOUN bracis-33588 80 15 1,\dots 1,\dot NOUN bracis-33588 80 16 , , PUNCT bracis-33588 80 17 \alpha \alpha ADJ bracis-33588 80 18 _ _ NOUN bracis-33588 80 19 n n CCONJ bracis-33588 80 20 ) ) PUNCT bracis-33588 80 21 \in \in PROPN bracis-33588 80 22 \mathbf \mathbf PROPN bracis-33588 80 23 { { PUNCT bracis-33588 80 24 v^*}\ v^*}\ NOUN bracis-33588 80 25 ) ) PUNCT bracis-33588 80 26 , , PUNCT bracis-33588 80 27 however however ADV bracis-33588 80 28 , , PUNCT bracis-33588 80 29 only only ADV bracis-33588 80 30 a a DET bracis-33588 80 31 small small ADJ bracis-33588 80 32 fraction fraction NOUN bracis-33588 80 33 of of ADP bracis-33588 80 34 this this DET bracis-33588 80 35 domain domain NOUN bracis-33588 80 36 constitute constitute VERB bracis-33588 80 37 valid valid ADJ bracis-33588 80 38 actions action NOUN bracis-33588 80 39 . . PUNCT bracis-33588 81 1 the the DET bracis-33588 81 2 fsm fsm PROPN bracis-33588 81 3 can can AUX bracis-33588 81 4 be be AUX bracis-33588 81 5 derived derive VERB bracis-33588 81 6 from from ADP bracis-33588 81 7 the the DET bracis-33588 81 8 problem problem NOUN bracis-33588 81 9 ’s ’s PART bracis-33588 81 10 pddl pddl NOUN bracis-33588 81 11 and and CCONJ bracis-33588 81 12 is be AUX bracis-33588 81 13 designed design VERB bracis-33588 81 14 to to PART bracis-33588 81 15 receive receive VERB bracis-33588 81 16 an an DET bracis-33588 81 17 action action NOUN bracis-33588 82 1 \(a \(a NOUN bracis-33588 82 2 \in \in PROPN bracis-33588 82 3 \varsigma \varsigma PROPN bracis-33588 82 4 \subset \subset PROPN bracis-33588 82 5 \mathbf \mathbf PROPN bracis-33588 82 6 { { PUNCT bracis-33588 82 7 v^*}\ v^*}\ NOUN bracis-33588 82 8 ) ) PUNCT bracis-33588 83 1 and and CCONJ bracis-33588 83 2 return return VERB bracis-33588 83 3 an an DET bracis-33588 83 4 output output NOUN bracis-33588 83 5 \(o \(o PRON bracis-33588 83 6 \in \in PROPN bracis-33588 83 7 \varlambda \varlambda PRON bracis-33588 83 8 \subset \subset ADJ bracis-33588 83 9 \mathbf \mathbf PROPN bracis-33588 83 10 { { PUNCT bracis-33588 83 11 v^*}\ v^*}\ NOUN bracis-33588 83 12 ) ) PUNCT bracis-33588 83 13 , , PUNCT bracis-33588 83 14 which which PRON bracis-33588 83 15 is be AUX bracis-33588 83 16 appended append VERB bracis-33588 83 17 to to ADP bracis-33588 83 18 the the DET bracis-33588 83 19 next next ADJ bracis-33588 83 20 llm llm PROPN bracis-33588 83 21 prompt prompt ADJ bracis-33588 83 22 p. p. NOUN bracis-33588 83 23 this this PRON bracis-33588 83 24 establishes establish VERB bracis-33588 83 25 an an DET bracis-33588 83 26 interactive interactive ADJ bracis-33588 83 27 loop loop NOUN bracis-33588 83 28 between between ADP bracis-33588 83 29 the the DET bracis-33588 83 30 llm llm PROPN bracis-33588 83 31 and and CCONJ bracis-33588 83 32 the the DET bracis-33588 83 33 fsm fsm PROPN bracis-33588 83 34 , , PUNCT bracis-33588 83 35 where where SCONJ bracis-33588 83 36 the the DET bracis-33588 83 37 language language NOUN bracis-33588 83 38 model model NOUN bracis-33588 83 39 proposes propose VERB bracis-33588 83 40 actions action NOUN bracis-33588 83 41 based base VERB bracis-33588 83 42 on on ADP bracis-33588 83 43 its its PRON bracis-33588 83 44 context context NOUN bracis-33588 83 45 p p X bracis-33588 83 46 , , PUNCT bracis-33588 83 47 while while SCONJ bracis-33588 83 48 the the DET bracis-33588 83 49 fsm fsm PROPN bracis-33588 83 50 models model NOUN bracis-33588 83 51 preconditions precondition NOUN bracis-33588 83 52 and and CCONJ bracis-33588 83 53 effects effect NOUN bracis-33588 83 54 . . PUNCT bracis-33588 84 1 note note VERB bracis-33588 84 2 that that SCONJ bracis-33588 84 3 in in ADP bracis-33588 84 4 this this DET bracis-33588 84 5 setup setup NOUN bracis-33588 84 6 there there PRON bracis-33588 84 7 ’s ’ VERB bracis-33588 84 8 no no DET bracis-33588 84 9 guarantee guarantee NOUN bracis-33588 84 10 that that SCONJ bracis-33588 84 11 the the DET bracis-33588 84 12 llm llm PROPN bracis-33588 84 13 output output NOUN bracis-33588 84 14 t t PROPN bracis-33588 84 15 is be AUX bracis-33588 84 16 a a DET bracis-33588 84 17 valid valid ADJ bracis-33588 84 18 action action NOUN bracis-33588 84 19 , , PUNCT bracis-33588 84 20 which which PRON bracis-33588 84 21 means mean VERB bracis-33588 84 22 the the DET bracis-33588 84 23 llm llm PROPN bracis-33588 84 24 can can AUX bracis-33588 84 25 send send VERB bracis-33588 84 26 invalid invalid ADJ bracis-33588 84 27 actions action NOUN bracis-33588 84 28 ( ( PUNCT bracis-33588 84 29 i.e. i.e. X bracis-33588 84 30 symbols symbol NOUN bracis-33588 84 31 ) ) PUNCT bracis-33588 84 32 to to ADP bracis-33588 84 33 the the DET bracis-33588 84 34 fsm fsm PROPN bracis-33588 84 35 . . PUNCT bracis-33588 85 1 however however ADV bracis-33588 85 2 , , PUNCT bracis-33588 85 3 it it PRON bracis-33588 85 4 is be AUX bracis-33588 85 5 possible possible ADJ bracis-33588 85 6 to to PART bracis-33588 85 7 project project VERB bracis-33588 85 8 t t PROPN bracis-33588 85 9 onto onto ADP bracis-33588 85 10 \(\varsigma \(\varsigma X bracis-33588 85 11 \ \ NOUN bracis-33588 85 12 ) ) PUNCT bracis-33588 85 13 by by ADP bracis-33588 85 14 providing provide VERB bracis-33588 85 15 a a DET bracis-33588 85 16 validation validation NOUN bracis-33588 85 17 function function NOUN bracis-33588 85 18 f f X bracis-33588 85 19 such such ADJ bracis-33588 85 20     SPACE bracis-33588 85 21 that that SCONJ bracis-33588 85 22 $ $ SYM bracis-33588 85 23 $ $ SYM bracis-33588 85 24 \begin{aligned \begin{aligne VERB bracis-33588 85 25 } } PUNCT bracis-33588 85 26 & & CCONJ bracis-33588 85 27 f:(\mathbf f:(\mathbf PROPN bracis-33588 85 28 { { PUNCT bracis-33588 85 29 v^*},\mathcal v^*},\mathcal ADJ bracis-33588 85 30 { { PUNCT bracis-33588 85 31 s s NOUN bracis-33588 85 32 } } PUNCT bracis-33588 85 33 ) ) PUNCT bracis-33588 85 34 \rightarrow \rightarrow PROPN bracis-33588 85 35 \varsigma \varsigma NUM bracis-33588 85 36 \end{aligned}$$ \end{aligned}$$ PROPN bracis-33588 85 37 ( ( PUNCT bracis-33588 85 38 1 1 NUM bracis-33588 85 39 ) ) PUNCT bracis-33588 85 40 $ $ SYM bracis-33588 85 41 $ $ SYM bracis-33588 85 42 \begin{aligned \begin{aligne VERB bracis-33588 85 43 } } PUNCT bracis-33588 85 44 & & CCONJ bracis-33588 85 45 f(t_i f(t_i PROPN bracis-33588 85 46 , , PUNCT bracis-33588 85 47 s_j s_j NUM bracis-33588 85 48 ) ) PUNCT bracis-33588 85 49 = = PRON bracis-33588 85 50 { { PUNCT bracis-33588 85 51 \left\ \left\ PROPN bracis-33588 85 52 { { PUNCT bracis-33588 85 53 \begin{array}{ll \begin{array}{ll PROPN bracis-33588 85 54 } } PUNCT bracis-33588 85 55 t_i t_i NUM bracis-33588 85 56 , , PUNCT bracis-33588 85 57 \ \ NOUN bracis-33588 85 58 t_i t_i PUNCT bracis-33588 86 1 \text \text NOUN bracis-33588 86 2 { { PUNCT bracis-33588 86 3 is be AUX bracis-33588 86 4 a a DET bracis-33588 86 5 valid valid ADJ bracis-33588 86 6 action action NOUN bracis-33588 86 7 in in ADP bracis-33588 86 8 state state NOUN bracis-33588 86 9 } } PUNCT bracis-33588 86 10 s_j s_j PROPN bracis-33588 86 11 \\ \\ NOUN bracis-33588 86 12 -1 -1 VERB bracis-33588 86 13 , , PUNCT bracis-33588 86 14 \text \text ADP bracis-33588 86 15 { { PUNCT bracis-33588 86 16 otherwise otherwise ADV bracis-33588 86 17 } } PUNCT bracis-33588 86 18 \end{array}\right \end{array}\right PROPN bracis-33588 86 19 . . PUNCT bracis-33588 86 20 } } PUNCT bracis-33588 86 21 \end{aligned}$$ \end{aligned}$$ X bracis-33588 86 22 ( ( PUNCT bracis-33588 86 23 2 2 X bracis-33588 86 24 ) ) PUNCT bracis-33588 86 25 this this DET bracis-33588 86 26 function function NOUN bracis-33588 86 27 checks check VERB bracis-33588 86 28 whether whether SCONJ bracis-33588 86 29 t t PROPN bracis-33588 86 30 corresponds correspond VERB bracis-33588 86 31 to to ADP bracis-33588 86 32 a a DET bracis-33588 86 33 valid valid ADJ bracis-33588 86 34 action action NOUN bracis-33588 86 35 for for ADP bracis-33588 86 36 the the DET bracis-33588 86 37 current current ADJ bracis-33588 86 38 state state NOUN bracis-33588 86 39 , , PUNCT bracis-33588 86 40 producing produce VERB bracis-33588 86 41 a a DET bracis-33588 86 42 common common ADJ bracis-33588 86 43 symbol symbol NOUN bracis-33588 86 44 \(-1\ \(-1\ PROPN bracis-33588 86 45 ) ) PUNCT bracis-33588 86 46 for for ADP bracis-33588 86 47 invalid invalid ADJ bracis-33588 86 48 actions action NOUN bracis-33588 86 49 . . PUNCT bracis-33588 87 1 consequently consequently ADV bracis-33588 87 2 , , PUNCT bracis-33588 87 3 instead instead ADV bracis-33588 87 4 of of ADP bracis-33588 87 5 the the DET bracis-33588 87 6 fsm fsm PROPN bracis-33588 87 7 ’s ’s PART bracis-33588 87 8 transition transition NOUN bracis-33588 87 9 and and CCONJ bracis-33588 87 10 output output NOUN bracis-33588 87 11 functions function NOUN bracis-33588 87 12 receiving receive VERB bracis-33588 87 13 t t NOUN bracis-33588 87 14 , , PUNCT bracis-33588 87 15 they they PRON bracis-33588 87 16 use use VERB bracis-33588 87 17 the the DET bracis-33588 87 18 output output NOUN bracis-33588 87 19 from from ADP bracis-33588 87 20 the the DET bracis-33588 87 21 validation validation NOUN bracis-33588 87 22 function function NOUN bracis-33588 87 23 : : PUNCT bracis-33588 87 24 \(\mathcal \(\mathcal ADJ bracis-33588 87 25 { { PUNCT bracis-33588 87 26 t}(s_j t}(s_j PROPN bracis-33588 87 27 , , PUNCT bracis-33588 87 28 f(t_i f(t_i PROPN bracis-33588 87 29 , , PUNCT bracis-33588 87 30 s_j))\ s_j))\ PROPN bracis-33588 87 31 ) ) PUNCT bracis-33588 87 32 and and CCONJ bracis-33588 87 33 \(\mathcal \(\mathcal ADJ bracis-33588 87 34 { { PUNCT bracis-33588 87 35 o}(s_j o}(s_j PROPN bracis-33588 87 36 , , PUNCT bracis-33588 87 37 f(t_i f(t_i PROPN bracis-33588 87 38 , , PUNCT bracis-33588 87 39 s_j))\ s_j))\ PROPN bracis-33588 87 40 ) ) PUNCT bracis-33588 87 41 . . PUNCT bracis-33588 88 1 to to PART bracis-33588 88 2 assess assess VERB bracis-33588 88 3 how how SCONJ bracis-33588 88 4 fsm fsm PROPN bracis-33588 88 5 modeling modeling NOUN bracis-33588 88 6 can can AUX bracis-33588 88 7 enhance enhance VERB bracis-33588 88 8 the the DET bracis-33588 88 9 capabilities capability NOUN bracis-33588 88 10 of of ADP bracis-33588 88 11 llms llm NOUN bracis-33588 88 12 , , PUNCT bracis-33588 88 13 we we PRON bracis-33588 88 14 evaluate evaluate VERB bracis-33588 88 15 seven seven NUM bracis-33588 88 16 distinct distinct ADJ bracis-33588 88 17 methods method NOUN bracis-33588 88 18 . . PUNCT bracis-33588 89 1 these these DET bracis-33588 89 2 range range VERB bracis-33588 89 3 from from ADP bracis-33588 89 4 a a DET bracis-33588 89 5 straightforward straightforward ADJ bracis-33588 89 6 preplanned preplanne VERB bracis-33588 89 7 input input NOUN bracis-33588 89 8 / / SYM bracis-33588 89 9 output output NOUN bracis-33588 89 10 setup setup NOUN bracis-33588 89 11 to to ADP bracis-33588 89 12 more more ADV bracis-33588 89 13 sophisticated sophisticated ADJ bracis-33588 89 14 approaches approach NOUN bracis-33588 89 15 that that PRON bracis-33588 89 16 utilize utilize VERB bracis-33588 89 17 fsms fsm NOUN bracis-33588 89 18 to to PART bracis-33588 89 19 receive receive VERB bracis-33588 89 20 information information NOUN bracis-33588 89 21 and and CCONJ bracis-33588 89 22 provide provide VERB bracis-33588 89 23 feedback feedback NOUN bracis-33588 89 24 on on ADP bracis-33588 89 25 their their PRON bracis-33588 89 26 actions action NOUN bracis-33588 89 27 . . PUNCT bracis-33588 90 1 additionally additionally ADV bracis-33588 90 2 , , PUNCT bracis-33588 90 3 we we PRON bracis-33588 90 4 examine examine VERB bracis-33588 90 5 the the DET bracis-33588 90 6 cot cot NOUN bracis-33588 90 7 approach approach NOUN bracis-33588 90 8 , , PUNCT bracis-33588 90 9 as as SCONJ bracis-33588 90 10 outlined outline VERB bracis-33588 90 11 in in ADP bracis-33588 90 12 [ [ X bracis-33588 90 13 15 15 NUM bracis-33588 90 14 ] ] PUNCT bracis-33588 90 15 , , PUNCT bracis-33588 90 16 where where SCONJ bracis-33588 90 17 the the DET bracis-33588 90 18 initial initial ADJ bracis-33588 90 19 prompt prompt NOUN bracis-33588 90 20 induces induce VERB bracis-33588 90 21 the the DET bracis-33588 90 22 model model NOUN bracis-33588 90 23 to to PART bracis-33588 90 24 generate generate VERB bracis-33588 90 25 structured structured ADJ bracis-33588 90 26 reasoning reasoning NOUN bracis-33588 90 27 based base VERB bracis-33588 90 28 on on ADP bracis-33588 90 29 a a DET bracis-33588 90 30 similar similar ADJ bracis-33588 90 31 example example NOUN bracis-33588 90 32 . . PUNCT bracis-33588 91 1 by by ADP bracis-33588 91 2 analysing analyse VERB bracis-33588 91 3 these these DET bracis-33588 91 4 variations variation NOUN bracis-33588 91 5 we we PRON bracis-33588 91 6 aim aim VERB bracis-33588 91 7 to to PART bracis-33588 91 8 measure measure VERB bracis-33588 91 9 three three NUM bracis-33588 91 10 key key ADJ bracis-33588 91 11 aspects aspect NOUN bracis-33588 91 12 : : PUNCT bracis-33588 91 13 1 1 X bracis-33588 91 14 . . NOUN bracis-33588 91 15 which which DET bracis-33588 91 16 method method NOUN bracis-33588 91 17 proves prove VERB bracis-33588 91 18 more more ADV bracis-33588 91 19 effective effective ADJ bracis-33588 91 20 : : PUNCT bracis-33588 91 21 generating generate VERB bracis-33588 91 22 the the DET bracis-33588 91 23 entire entire ADJ bracis-33588 91 24 plan plan NOUN bracis-33588 91 25 at at ADP bracis-33588 91 26 once once ADV bracis-33588 91 27 , , PUNCT bracis-33588 91 28 or or CCONJ bracis-33588 91 29 generating generate VERB bracis-33588 91 30 each each DET bracis-33588 91 31 action action NOUN bracis-33588 91 32 individually individually ADV bracis-33588 91 33 while while SCONJ bracis-33588 91 34 interacting interact VERB bracis-33588 91 35 with with ADP bracis-33588 91 36 the the DET bracis-33588 91 37 fsm fsm PROPN bracis-33588 91 38 ? ? PROPN bracis-33588 92 1 2 2 NUM bracis-33588 92 2 . . X bracis-33588 92 3 does do AUX bracis-33588 92 4 integrating integrate VERB bracis-33588 92 5 validation validation NOUN bracis-33588 92 6 functions function NOUN bracis-33588 92 7 and and CCONJ bracis-33588 92 8 feedback feedback NOUN bracis-33588 92 9 loops loop NOUN bracis-33588 92 10 improve improve VERB bracis-33588 92 11 llms llm NOUN bracis-33588 92 12 ’ ' PUNCT bracis-33588 92 13 effectiveness effectiveness NOUN bracis-33588 92 14 in in ADP bracis-33588 92 15 solving solve VERB bracis-33588 92 16 planning planning NOUN bracis-33588 92 17 tasks task NOUN bracis-33588 92 18 ? ? PUNCT bracis-33588 93 1 3 3 X bracis-33588 93 2 . . X bracis-33588 93 3 what what DET bracis-33588 93 4 methods method NOUN bracis-33588 93 5 can can AUX bracis-33588 93 6 be be AUX bracis-33588 93 7 employed employ VERB bracis-33588 93 8 to to PART bracis-33588 93 9 restrict restrict VERB bracis-33588 93 10 the the DET bracis-33588 93 11 range range NOUN bracis-33588 93 12 of of ADP bracis-33588 93 13 actions action NOUN bracis-33588 93 14 available available ADJ bracis-33588 93 15 to to ADP bracis-33588 93 16 llms llm NOUN bracis-33588 93 17 , , PUNCT bracis-33588 93 18 thereby thereby ADV bracis-33588 93 19 guiding guide VERB bracis-33588 93 20 them they PRON bracis-33588 93 21 towards towards ADP bracis-33588 93 22 optimal optimal ADJ bracis-33588 93 23 outcomes outcome NOUN bracis-33588 93 24 ? ? PUNCT bracis-33588 94 1 initially initially ADV bracis-33588 94 2 , , PUNCT bracis-33588 94 3 all all DET bracis-33588 94 4 methods method NOUN bracis-33588 94 5 receive receive VERB bracis-33588 94 6 the the DET bracis-33588 94 7 same same ADJ bracis-33588 94 8 context context NOUN bracis-33588 94 9 prompt prompt ADJ bracis-33588 94 10 \(p_c\ \(p_c\ NOUN bracis-33588 94 11 ) ) PUNCT bracis-33588 94 12 sourced source VERB bracis-33588 94 13 from from ADP bracis-33588 94 14 [ [ X bracis-33588 94 15 14 14 NUM bracis-33588 94 16 ] ] PUNCT bracis-33588 94 17 . . PUNCT bracis-33588 95 1 this this DET bracis-33588 95 2 prompt prompt NOUN bracis-33588 95 3 includes include VERB bracis-33588 95 4 a a DET bracis-33588 95 5 detailed detailed ADJ bracis-33588 95 6 description description NOUN bracis-33588 95 7 of of ADP bracis-33588 95 8 the the DET bracis-33588 95 9 planning planning NOUN bracis-33588 95 10 task task NOUN bracis-33588 95 11 , , PUNCT bracis-33588 95 12 a a DET bracis-33588 95 13 rulebook rulebook NOUN bracis-33588 95 14 outlining outline VERB bracis-33588 95 15 all all DET bracis-33588 95 16 predicates predicate NOUN bracis-33588 95 17 and and CCONJ bracis-33588 95 18 actions action NOUN bracis-33588 95 19 , , PUNCT bracis-33588 95 20 and and CCONJ bracis-33588 95 21 information information NOUN bracis-33588 95 22 about about ADP bracis-33588 95 23 the the DET bracis-33588 95 24 current current ADJ bracis-33588 95 25 and and CCONJ bracis-33588 95 26 goal goal NOUN bracis-33588 95 27 states state NOUN bracis-33588 95 28 , , PUNCT bracis-33588 95 29 as as SCONJ bracis-33588 95 30 shown show VERB bracis-33588 95 31 in in ADP bracis-33588 95 32 fig fig NOUN bracis-33588 95 33 . . PUNCT bracis-33588 95 34     SPACE bracis-33588 96 1 1 1 X bracis-33588 96 2 . . PUNCT bracis-33588 97 1 each each DET bracis-33588 97 2 setup setup NOUN bracis-33588 97 3 has have VERB bracis-33588 97 4 its its PRON bracis-33588 97 5 own own ADJ bracis-33588 97 6 request request NOUN bracis-33588 97 7 prompt prompt ADJ bracis-33588 97 8 \(p_r\ \(p_r\ NOUN bracis-33588 97 9 ) ) PUNCT bracis-33588 97 10 , , PUNCT bracis-33588 97 11 which which PRON bracis-33588 97 12 solicits solicit VERB bracis-33588 97 13 either either CCONJ bracis-33588 97 14 the the DET bracis-33588 97 15 entire entire ADJ bracis-33588 97 16 plan plan NOUN bracis-33588 97 17 or or CCONJ bracis-33588 97 18 individual individual ADJ bracis-33588 97 19 actions action NOUN bracis-33588 97 20 , , PUNCT bracis-33588 97 21 enabling enable VERB bracis-33588 97 22 customization customization NOUN bracis-33588 97 23 based base VERB bracis-33588 97 24 on on ADP bracis-33588 97 25 each each DET bracis-33588 97 26 setup setup NOUN bracis-33588 97 27 ’s ’s PART bracis-33588 97 28 specific specific ADJ bracis-33588 97 29 approach approach NOUN bracis-33588 97 30 . . PUNCT bracis-33588 98 1 when when SCONJ bracis-33588 98 2 the the DET bracis-33588 98 3 inference inference NOUN bracis-33588 98 4 begins begin VERB bracis-33588 98 5 , , PUNCT bracis-33588 98 6 the the DET bracis-33588 98 7 epsilon epsilon NOUN bracis-33588 98 8 - - PUNCT bracis-33588 98 9 transition transition NOUN bracis-33588 98 10 \(\mathcal \(\mathcal ADJ bracis-33588 98 11 { { PUNCT bracis-33588 98 12 t}(s_{\text t}(s_{\text PROPN bracis-33588 98 13 { { PUNCT bracis-33588 98 14 start}},\epsilon start}},\epsilon NOUN bracis-33588 98 15 ) ) PUNCT bracis-33588 98 16 = = SYM bracis-33588 98 17 s_0\ s_0\ PROPN bracis-33588 98 18 ) ) PUNCT bracis-33588 98 19 occurs occur VERB bracis-33588 98 20 and and CCONJ bracis-33588 98 21 the the DET bracis-33588 98 22 respective respective ADJ bracis-33588 98 23 output output NOUN bracis-33588 98 24 \(\mathcal \(\mathcal ADJ bracis-33588 98 25 { { PUNCT bracis-33588 98 26 o}(s_{\text o}(s_{\text PROPN bracis-33588 98 27 { { PUNCT bracis-33588 98 28 start}},\epsilon start}},\epsilon NOUN bracis-33588 98 29 ) ) PUNCT bracis-33588 99 1 = = PUNCT bracis-33588 99 2 p_c p_c PROPN bracis-33588 100 1 + + PUNCT bracis-33588 100 2 p_r\ p_r\ ADV bracis-33588 100 3 ) ) PUNCT bracis-33588 100 4 produces produce VERB bracis-33588 100 5 the the DET bracis-33588 100 6 initial initial ADJ bracis-33588 100 7 prompt prompt NOUN bracis-33588 100 8 . . PUNCT bracis-33588 101 1 thus thus ADV bracis-33588 101 2 , , PUNCT bracis-33588 101 3 the the DET bracis-33588 101 4 state state NOUN bracis-33588 101 5 space space NOUN bracis-33588 101 6 becomes become VERB bracis-33588 101 7 \(\mathcal \(\mathcal ADJ bracis-33588 101 8 { { PUNCT bracis-33588 101 9 s s NOUN bracis-33588 101 10 } } PUNCT bracis-33588 101 11 = = SYM bracis-33588 101 12 \{s_{\text \{s_{\text PROPN bracis-33588 101 13 { { PUNCT bracis-33588 101 14 start start VERB bracis-33588 101 15 } } PUNCT bracis-33588 101 16 } } PUNCT bracis-33588 101 17 , , PUNCT bracis-33588 101 18 s_{\text s_{\text X bracis-33588 101 19 { { PUNCT bracis-33588 101 20 end}}\ end}}\ PROPN bracis-33588 101 21 } } PUNCT bracis-33588 101 22 \cup \cup VERB bracis-33588 101 23 \mathcal \mathcal PROPN bracis-33588 101 24 { { PUNCT bracis-33588 101 25 s_{\text s_{\text X bracis-33588 101 26 { { PUNCT bracis-33588 101 27 task}}}\ task}}}\ NUM bracis-33588 101 28 ) ) PUNCT bracis-33588 101 29 , , PUNCT bracis-33588 101 30 where where SCONJ bracis-33588 101 31 \(\mathcal \(\mathcal ADJ bracis-33588 101 32 { { PUNCT bracis-33588 101 33 s_{\text s_{\text X bracis-33588 101 34 { { PUNCT bracis-33588 101 35 task}}}\ task}}}\ NUM bracis-33588 101 36 ) ) PUNCT bracis-33588 101 37 is be AUX bracis-33588 101 38 the the DET bracis-33588 101 39 set set NOUN bracis-33588 101 40 of of ADP bracis-33588 101 41 all all DET bracis-33588 101 42 possible possible ADJ bracis-33588 101 43 states state NOUN bracis-33588 101 44 of of ADP bracis-33588 101 45 the the DET bracis-33588 101 46 task task NOUN bracis-33588 101 47 being be AUX bracis-33588 101 48 planned plan VERB bracis-33588 101 49 . . PUNCT bracis-33588 102 1 the the DET bracis-33588 102 2 methods method NOUN bracis-33588 102 3 analyzed analyze VERB bracis-33588 102 4 are be AUX bracis-33588 102 5 combinations combination NOUN bracis-33588 102 6 of of ADP bracis-33588 102 7 three three NUM bracis-33588 102 8 characteristics characteristic NOUN bracis-33588 102 9 : : PUNCT bracis-33588 102 10 preplanned preplanne VERB bracis-33588 102 11 vs vs ADP bracis-33588 102 12 interactive interactive ADJ bracis-33588 102 13 : : PUNCT bracis-33588 102 14 preplanned preplanne VERB bracis-33588 102 15 methods method NOUN bracis-33588 102 16 involve involve VERB bracis-33588 102 17 requesting request VERB bracis-33588 102 18 the the DET bracis-33588 102 19 whole whole ADJ bracis-33588 102 20 sequence sequence NOUN bracis-33588 102 21 of of ADP bracis-33588 102 22 actions action NOUN bracis-33588 102 23 to to ADP bracis-33588 102 24 the the DET bracis-33588 102 25 llm llm NOUN bracis-33588 102 26 before before ADP bracis-33588 102 27 performing perform VERB bracis-33588 102 28 any any DET bracis-33588 102 29 kind kind NOUN bracis-33588 102 30 of of ADP bracis-33588 102 31 validation validation NOUN bracis-33588 102 32 . . PUNCT bracis-33588 103 1 this this DET bracis-33588 103 2 setup setup NOUN bracis-33588 103 3 was be AUX bracis-33588 103 4 assessed assess VERB bracis-33588 103 5 in in ADP bracis-33588 103 6 [ [ X bracis-33588 103 7 15 15 NUM bracis-33588 103 8 ] ] PUNCT bracis-33588 103 9 , , PUNCT bracis-33588 103 10 revealing reveal VERB bracis-33588 103 11 a a DET bracis-33588 103 12 low low ADJ bracis-33588 103 13 success success NOUN bracis-33588 103 14 rate rate NOUN bracis-33588 103 15 and and CCONJ bracis-33588 103 16 a a DET bracis-33588 103 17 high high ADJ bracis-33588 103 18 prevalence prevalence NOUN bracis-33588 103 19 of of ADP bracis-33588 103 20 invalid invalid ADJ bracis-33588 103 21 plans plan NOUN bracis-33588 103 22 . . PUNCT bracis-33588 104 1 in in ADP bracis-33588 104 2 this this DET bracis-33588 104 3 setup setup NOUN bracis-33588 104 4 , , PUNCT bracis-33588 104 5 the the DET bracis-33588 104 6 llm llm NOUN bracis-33588 104 7 generates generate VERB bracis-33588 104 8 the the DET bracis-33588 104 9 entire entire ADJ bracis-33588 104 10 plan plan NOUN bracis-33588 104 11 \((t_1 \((t_1 PROPN bracis-33588 104 12 , , PUNCT bracis-33588 104 13 t_2 t_2 PROPN bracis-33588 104 14 , , PUNCT bracis-33588 104 15 \dots \dot NOUN bracis-33588 104 16 , , PUNCT bracis-33588 104 17 t_n)\ t_n)\ PROPN bracis-33588 104 18 ) ) PUNCT bracis-33588 104 19 solely solely ADV bracis-33588 104 20 based base VERB bracis-33588 104 21 on on ADP bracis-33588 104 22 \(p_c+p_r\ \(p_c+p_r\ PROPN bracis-33588 104 23 ) ) PUNCT bracis-33588 104 24 . . PUNCT bracis-33588 105 1 on on ADP bracis-33588 105 2 the the DET bracis-33588 105 3 other other ADJ bracis-33588 105 4 hand hand NOUN bracis-33588 105 5 , , PUNCT bracis-33588 105 6 interactive interactive ADJ bracis-33588 105 7 methods method NOUN bracis-33588 105 8 require require VERB bracis-33588 105 9 one one NUM bracis-33588 105 10 action action NOUN bracis-33588 105 11 at at ADP bracis-33588 105 12 a a DET bracis-33588 105 13 time time NOUN bracis-33588 105 14 , , PUNCT bracis-33588 105 15 performing perform VERB bracis-33588 105 16 an an DET bracis-33588 105 17 interaction interaction NOUN bracis-33588 105 18 between between ADP bracis-33588 105 19 fsm fsm PROPN bracis-33588 105 20 and and CCONJ bracis-33588 105 21 llm llm PROPN bracis-33588 105 22 at at ADP bracis-33588 105 23 each each DET bracis-33588 105 24 step step NOUN bracis-33588 105 25 , , PUNCT bracis-33588 105 26 allowing allow VERB bracis-33588 105 27 for for ADP bracis-33588 105 28 invalid invalid ADJ bracis-33588 105 29 actions action NOUN bracis-33588 105 30 to to PART bracis-33588 105 31 be be AUX bracis-33588 105 32 recognized recognize VERB bracis-33588 105 33 earlier early ADV bracis-33588 105 34 , , PUNCT bracis-33588 105 35 preventing prevent VERB bracis-33588 105 36 a a DET bracis-33588 105 37 reset reset NOUN bracis-33588 105 38 back back ADV bracis-33588 105 39 to to ADP bracis-33588 105 40 \(s_0\ \(s_0\ NOUN bracis-33588 105 41 ) ) PUNCT bracis-33588 105 42 . . PUNCT bracis-33588 106 1 no no DET bracis-33588 106 2 validation validation NOUN bracis-33588 106 3 vs vs ADP bracis-33588 106 4 validated validate VERB bracis-33588 106 5 vs vs ADP bracis-33588 106 6 restricted restricted ADJ bracis-33588 106 7 : : PUNCT bracis-33588 106 8 three three NUM bracis-33588 106 9 different different ADJ bracis-33588 106 10 schemes scheme NOUN bracis-33588 106 11 of of ADP bracis-33588 106 12 validation validation NOUN bracis-33588 106 13 are be AUX bracis-33588 106 14 analyzed analyze VERB bracis-33588 106 15 , , PUNCT bracis-33588 106 16 namely namely ADV bracis-33588 106 17 , , PUNCT bracis-33588 106 18 no no DET bracis-33588 106 19 validation validation NOUN bracis-33588 106 20 , , PUNCT bracis-33588 106 21 validated validate VERB bracis-33588 106 22 , , PUNCT bracis-33588 106 23 and and CCONJ bracis-33588 106 24 restricted restrict VERB bracis-33588 106 25 . . PUNCT bracis-33588 107 1 the the DET bracis-33588 107 2 no no DET bracis-33588 107 3 validation validation NOUN bracis-33588 107 4 scheme scheme NOUN bracis-33588 107 5 simply simply ADV bracis-33588 107 6 halts halt VERB bracis-33588 107 7 the the DET bracis-33588 107 8 process process NOUN bracis-33588 107 9 in in ADP bracis-33588 107 10 the the DET bracis-33588 107 11 case case NOUN bracis-33588 107 12 of of ADP bracis-33588 107 13 invalid invalid ADJ bracis-33588 107 14 plans plan NOUN bracis-33588 107 15 or or CCONJ bracis-33588 107 16 actions action NOUN bracis-33588 107 17 . . PUNCT bracis-33588 108 1 the the DET bracis-33588 108 2 validated validate VERB bracis-33588 108 3 scheme scheme NOUN bracis-33588 108 4 makes make VERB bracis-33588 108 5 use use NOUN bracis-33588 108 6 of of ADP bracis-33588 108 7 f f PROPN bracis-33588 108 8 to to PART bracis-33588 108 9 guarantee guarantee VERB bracis-33588 108 10 llm llm PROPN bracis-33588 108 11 outputs output NOUN bracis-33588 108 12 are be AUX bracis-33588 108 13 projected project VERB bracis-33588 108 14 onto onto ADP bracis-33588 108 15 \(\varsigma \(\varsigma X bracis-33588 108 16 \ \ NOUN bracis-33588 108 17 ) ) PUNCT bracis-33588 108 18 and and CCONJ bracis-33588 108 19 provides provide VERB bracis-33588 108 20 feedback feedback NOUN bracis-33588 108 21 in in ADP bracis-33588 108 22 the the DET bracis-33588 108 23 case case NOUN bracis-33588 108 24 of of ADP bracis-33588 108 25 invalid invalid ADJ bracis-33588 108 26 actions action NOUN bracis-33588 108 27 . . PUNCT bracis-33588 109 1 finally finally ADV bracis-33588 109 2 , , PUNCT bracis-33588 109 3 restricted restrict VERB bracis-33588 109 4 methods method NOUN bracis-33588 109 5 provide provide VERB bracis-33588 109 6 all all DET bracis-33588 109 7 valid valid ADJ bracis-33588 109 8 actions action NOUN bracis-33588 109 9 ( ( PUNCT bracis-33588 109 10 obtained obtain VERB bracis-33588 109 11 from from ADP bracis-33588 109 12 the the DET bracis-33588 109 13 pddl pddl NOUN bracis-33588 109 14 ) ) PUNCT bracis-33588 109 15 for for ADP bracis-33588 109 16 a a DET bracis-33588 109 17 certain certain ADJ bracis-33588 109 18 state state NOUN bracis-33588 109 19 to to ADP bracis-33588 109 20 the the DET bracis-33588 109 21 llm llm NOUN bracis-33588 109 22 through through ADP bracis-33588 109 23 \(\mathcal \(\mathcal ADJ bracis-33588 109 24 { { PUNCT bracis-33588 109 25 o}\ o}\ PROPN bracis-33588 109 26 ) ) PUNCT bracis-33588 109 27 . . PUNCT bracis-33588 110 1 in in ADP bracis-33588 110 2 this this DET bracis-33588 110 3 case case NOUN bracis-33588 110 4 the the DET bracis-33588 110 5 llm llm NOUN bracis-33588 110 6 is be AUX bracis-33588 110 7 asked ask VERB bracis-33588 110 8 to to PART bracis-33588 110 9 choose choose VERB bracis-33588 110 10 the the DET bracis-33588 110 11 number number NOUN bracis-33588 110 12 \(t_i\ \(t_i\ NOUN bracis-33588 110 13 ) ) PUNCT bracis-33588 110 14 corresponding correspond VERB bracis-33588 110 15 to to ADP bracis-33588 110 16 the the DET bracis-33588 110 17 selected select VERB bracis-33588 110 18 action action NOUN bracis-33588 110 19 , , PUNCT bracis-33588 110 20 but but CCONJ bracis-33588 110 21 can can AUX bracis-33588 110 22 still still ADV bracis-33588 110 23 output output VERB bracis-33588 110 24 any any DET bracis-33588 110 25 \(t \(t NOUN bracis-33588 110 26 \in \in ADJ bracis-33588 110 27 \mathbf \mathbf PROPN bracis-33588 110 28 { { PUNCT bracis-33588 110 29 v^*}\ v^*}\ NOUN bracis-33588 110 30 ) ) PUNCT bracis-33588 110 31 . . PUNCT bracis-33588 111 1 to to PART bracis-33588 111 2 handle handle VERB bracis-33588 111 3 invalid invalid ADJ bracis-33588 111 4 choices choice NOUN bracis-33588 111 5 and and CCONJ bracis-33588 111 6 to to PART bracis-33588 111 7 convert convert VERB bracis-33588 111 8 the the DET bracis-33588 111 9 selected select VERB bracis-33588 111 10 action action NOUN bracis-33588 111 11 into into ADP bracis-33588 111 12 a a DET bracis-33588 111 13 valid valid ADJ bracis-33588 111 14 symbol symbol NOUN bracis-33588 111 15 we we PRON bracis-33588 111 16 make make VERB bracis-33588 111 17 use use NOUN bracis-33588 111 18 of of ADP bracis-33588 111 19 a a DET bracis-33588 111 20 modified modify VERB bracis-33588 111 21 f f NOUN bracis-33588 111 22 $ $ SYM bracis-33588 111 23 $ $ SYM bracis-33588 111 24 \begin{aligned \begin{aligne VERB bracis-33588 111 25 } } PUNCT bracis-33588 111 26 f(t_i f(t_i PROPN bracis-33588 111 27 , , PUNCT bracis-33588 111 28 s_j s_j NUM bracis-33588 111 29 ) ) PUNCT bracis-33588 112 1 = = PRON bracis-33588 112 2 { { PUNCT bracis-33588 112 3 \left\ \left\ PROPN bracis-33588 112 4 { { PUNCT bracis-33588 112 5 \begin{array}{ll \begin{array}{ll PROPN bracis-33588 112 6 } } PUNCT bracis-33588 112 7 a_{t_i}^{s_j a_{t_i}^{s_j NOUN bracis-33588 112 8 } } PUNCT bracis-33588 112 9 & & CCONJ bracis-33588 112 10 t_i t_i PUNCT bracis-33588 112 11 \in \in PROPN bracis-33588 112 12 p_a(s_j p_a(s_j NOUN bracis-33588 112 13 ) ) PUNCT bracis-33588 112 14 , , PUNCT bracis-33588 112 15 \\ \\ NOUN bracis-33588 112 16 -1 -1 PUNCT bracis-33588 112 17 & & CCONJ bracis-33588 112 18 \text \text PROPN bracis-33588 112 19 { { PUNCT bracis-33588 112 20 otherwise otherwise ADV bracis-33588 112 21 } } PUNCT bracis-33588 112 22 . . PUNCT bracis-33588 113 1 \end{array}\right \end{array}\right PROPN bracis-33588 113 2 . . PUNCT bracis-33588 113 3 } } PUNCT bracis-33588 114 1 \end{aligned}$$ \end{aligned}$$ X bracis-33588 114 2 ( ( PUNCT bracis-33588 114 3 3 3 NUM bracis-33588 114 4 ) ) PUNCT bracis-33588 115 1 where where SCONJ bracis-33588 115 2 \(a_{t_i}^{s_j}\ \(a_{t_i}^{s_j}\ NOUN bracis-33588 115 3 ) ) PUNCT bracis-33588 115 4 is be AUX bracis-33588 115 5 the the DET bracis-33588 115 6 action action NOUN bracis-33588 115 7 that that PRON bracis-33588 115 8 corresponds correspond VERB bracis-33588 115 9 to to ADP bracis-33588 115 10 option option NOUN bracis-33588 115 11 \(t_i\ \(t_i\ NOUN bracis-33588 115 12 ) ) PUNCT bracis-33588 115 13 at at ADP bracis-33588 115 14 state state NOUN bracis-33588 115 15 \(s_j\ \(s_j\ NOUN bracis-33588 115 16 ) ) PUNCT bracis-33588 115 17 . . PUNCT bracis-33588 116 1 standard standard ADJ bracis-33588 116 2 vs vs ADP bracis-33588 116 3 chain chain NOUN bracis-33588 116 4 - - PUNCT bracis-33588 116 5 of of ADP bracis-33588 116 6 - - PUNCT bracis-33588 116 7 thoughts thought NOUN bracis-33588 116 8 : : PUNCT bracis-33588 116 9 the the DET bracis-33588 116 10 standard standard ADJ bracis-33588 116 11 prompting prompt VERB bracis-33588 116 12 setup setup NOUN bracis-33588 116 13 simply simply ADV bracis-33588 116 14 describes describe VERB bracis-33588 116 15 the the DET bracis-33588 116 16 goal goal NOUN bracis-33588 116 17 and and CCONJ bracis-33588 116 18 requests request VERB bracis-33588 116 19 a a DET bracis-33588 116 20 plan plan NOUN bracis-33588 116 21 ( ( PUNCT bracis-33588 116 22 or or CCONJ bracis-33588 116 23 the the DET bracis-33588 116 24 next next ADJ bracis-33588 116 25 action action NOUN bracis-33588 116 26 ) ) PUNCT bracis-33588 116 27 . . PUNCT bracis-33588 117 1 on on ADP bracis-33588 117 2 the the DET bracis-33588 117 3 other other ADJ bracis-33588 117 4 hand hand NOUN bracis-33588 117 5 , , PUNCT bracis-33588 117 6 cot cot NOUN bracis-33588 117 7 prompting prompt VERB bracis-33588 117 8 induces induce VERB bracis-33588 117 9 the the DET bracis-33588 117 10 llm llm NOUN bracis-33588 117 11 to to PART bracis-33588 117 12 perform perform VERB bracis-33588 117 13 a a DET bracis-33588 117 14 step step NOUN bracis-33588 117 15 - - PUNCT bracis-33588 117 16 by by ADP bracis-33588 117 17 - - PUNCT bracis-33588 117 18 step step NOUN bracis-33588 117 19 reasoning reasoning NOUN bracis-33588 117 20 process process NOUN bracis-33588 117 21 for for ADP bracis-33588 117 22 each each DET bracis-33588 117 23 interaction interaction NOUN bracis-33588 117 24 with with ADP bracis-33588 117 25 the the DET bracis-33588 117 26 fsm fsm PROPN bracis-33588 117 27 . . PUNCT bracis-33588 118 1 prompting prompt VERB bracis-33588 118 2 strategy strategy NOUN bracis-33588 118 3 can can AUX bracis-33588 118 4 be be AUX bracis-33588 118 5 modified modify VERB bracis-33588 118 6 by by ADP bracis-33588 118 7 changing change VERB bracis-33588 118 8 the the DET bracis-33588 118 9 prompts prompt NOUN bracis-33588 118 10 produced produce VERB bracis-33588 118 11 by by ADP bracis-33588 118 12 \(\mathcal \(\mathcal ADJ bracis-33588 118 13 { { PUNCT bracis-33588 118 14 o}\ o}\ PROPN bracis-33588 118 15 ) ) PUNCT bracis-33588 118 16 . . PUNCT bracis-33588 119 1 fig fig NOUN bracis-33588 119 2 . . PUNCT bracis-33588 120 1 1 1 X bracis-33588 120 2 . . X bracis-33588 120 3 ( ( PUNCT bracis-33588 120 4 left left ADJ bracis-33588 120 5 ) ) PUNCT bracis-33588 120 6 context context NOUN bracis-33588 120 7 prompt prompt NOUN bracis-33588 120 8 used use VERB bracis-33588 120 9 in in ADP bracis-33588 120 10 all all DET bracis-33588 120 11 proposed propose VERB bracis-33588 120 12 methods method NOUN bracis-33588 120 13 . . PUNCT bracis-33588 121 1 ( ( PUNCT bracis-33588 121 2 right right ADV bracis-33588 121 3 ) ) PUNCT bracis-33588 121 4 preplanned preplanne VERB bracis-33588 121 5 no no DET bracis-33588 121 6 validation validation NOUN bracis-33588 121 7 : : PUNCT bracis-33588 121 8 we we PRON bracis-33588 121 9 prompt prompt VERB bracis-33588 121 10 the the DET bracis-33588 121 11 llm llm NOUN bracis-33588 121 12 to to PART bracis-33588 121 13 generate generate VERB bracis-33588 121 14 the the DET bracis-33588 121 15 complete complete ADJ bracis-33588 121 16 plan plan NOUN bracis-33588 121 17 in in ADP bracis-33588 121 18 one one NUM bracis-33588 121 19 step step NOUN bracis-33588 121 20 . . PUNCT bracis-33588 122 1 full full ADJ bracis-33588 122 2 size size NOUN bracis-33588 122 3 image image NOUN bracis-33588 122 4 fig fig NOUN bracis-33588 122 5 . . PUNCT bracis-33588 123 1 2 2 X bracis-33588 123 2 . . X bracis-33588 123 3 ( ( PUNCT bracis-33588 123 4 left leave VERB bracis-33588 123 5 ) ) PUNCT bracis-33588 123 6 preplanned preplanne VERB bracis-33588 123 7 validated validated ADJ bracis-33588 123 8 : : PUNCT bracis-33588 123 9 we we PRON bracis-33588 123 10 prompt prompt VERB bracis-33588 123 11 the the DET bracis-33588 123 12 llm llm NOUN bracis-33588 123 13 to to PART bracis-33588 123 14 generate generate VERB bracis-33588 123 15 the the DET bracis-33588 123 16 entire entire ADJ bracis-33588 123 17 plan plan NOUN bracis-33588 123 18 in in ADP bracis-33588 123 19 a a DET bracis-33588 123 20 single single ADJ bracis-33588 123 21 step step NOUN bracis-33588 123 22 . . PUNCT bracis-33588 124 1 if if SCONJ bracis-33588 124 2 the the DET bracis-33588 124 3 plan plan NOUN bracis-33588 124 4 is be AUX bracis-33588 124 5 invalid invalid ADJ bracis-33588 124 6 , , PUNCT bracis-33588 124 7 we we PRON bracis-33588 124 8 provide provide VERB bracis-33588 124 9 feedback feedback NOUN bracis-33588 124 10 and and CCONJ bracis-33588 124 11 prompt prompt VERB bracis-33588 124 12 the the DET bracis-33588 124 13 llm llm NOUN bracis-33588 124 14 to to PART bracis-33588 124 15 generate generate VERB bracis-33588 124 16 a a DET bracis-33588 124 17 new new ADJ bracis-33588 124 18 plan plan NOUN bracis-33588 124 19 . . PUNCT bracis-33588 125 1 ( ( PUNCT bracis-33588 125 2 right right ADJ bracis-33588 125 3 ) ) PUNCT bracis-33588 125 4 interactive interactive VERB bracis-33588 125 5 no no DET bracis-33588 125 6 validation validation NOUN bracis-33588 125 7 : : PUNCT bracis-33588 125 8 we we PRON bracis-33588 125 9 prompt prompt VERB bracis-33588 125 10 the the DET bracis-33588 125 11 llm llm NOUN bracis-33588 125 12 to to PART bracis-33588 125 13 generate generate VERB bracis-33588 125 14 one one NUM bracis-33588 125 15 action action NOUN bracis-33588 125 16 at at ADP bracis-33588 125 17 a a DET bracis-33588 125 18 time time NOUN bracis-33588 125 19 and and CCONJ bracis-33588 125 20 check check VERB bracis-33588 125 21 if if SCONJ bracis-33588 125 22 the the DET bracis-33588 125 23 goal goal NOUN bracis-33588 125 24 is be AUX bracis-33588 125 25 reached reach VERB bracis-33588 125 26 after after ADP bracis-33588 125 27 each each DET bracis-33588 125 28 action action NOUN bracis-33588 125 29 . . PUNCT bracis-33588 126 1 this this DET bracis-33588 126 2 process process NOUN bracis-33588 126 3 continues continue VERB bracis-33588 126 4 until until SCONJ bracis-33588 126 5 the the DET bracis-33588 126 6 llm llm PROPN bracis-33588 126 7 indicates indicate VERB bracis-33588 126 8 that that SCONJ bracis-33588 126 9 the the DET bracis-33588 126 10 goal goal NOUN bracis-33588 126 11 has have AUX bracis-33588 126 12 been be AUX bracis-33588 126 13 reached reach VERB bracis-33588 126 14 or or CCONJ bracis-33588 126 15 the the DET bracis-33588 126 16 maximum maximum ADJ bracis-33588 126 17 number number NOUN bracis-33588 126 18 of of ADP bracis-33588 126 19 iterations iteration NOUN bracis-33588 126 20 is be AUX bracis-33588 126 21 exceeded exceed VERB bracis-33588 126 22 . . PUNCT bracis-33588 127 1 full full ADJ bracis-33588 127 2 size size NOUN bracis-33588 127 3 image image NOUN bracis-33588 127 4 fig fig NOUN bracis-33588 127 5 . . PUNCT bracis-33588 128 1 3 3 X bracis-33588 128 2 . . PUNCT bracis-33588 128 3 ( ( PUNCT bracis-33588 128 4 left leave VERB bracis-33588 128 5 ) ) PUNCT bracis-33588 128 6 interactive interactive ADJ bracis-33588 128 7 validated validate VERB bracis-33588 128 8 : : PUNCT bracis-33588 128 9 we we PRON bracis-33588 128 10 prompt prompt VERB bracis-33588 128 11 the the DET bracis-33588 128 12 llm llm NOUN bracis-33588 128 13 to to PART bracis-33588 128 14 generate generate VERB bracis-33588 128 15 one one NUM bracis-33588 128 16 action action NOUN bracis-33588 128 17 at at ADP bracis-33588 128 18 a a DET bracis-33588 128 19 time time NOUN bracis-33588 128 20 and and CCONJ bracis-33588 128 21 provide provide VERB bracis-33588 128 22 feedback feedback NOUN bracis-33588 128 23 on on ADP bracis-33588 128 24 whether whether SCONJ bracis-33588 128 25 the the DET bracis-33588 128 26 action action NOUN bracis-33588 128 27 is be AUX bracis-33588 128 28 valid valid ADJ bracis-33588 128 29 or or CCONJ bracis-33588 128 30 not not PART bracis-33588 128 31 . . PUNCT bracis-33588 129 1 this this DET bracis-33588 129 2 process process NOUN bracis-33588 129 3 continues continue VERB bracis-33588 129 4 until until SCONJ bracis-33588 129 5 the the DET bracis-33588 129 6 goal goal NOUN bracis-33588 129 7 is be AUX bracis-33588 129 8 reached reach VERB bracis-33588 129 9 or or CCONJ bracis-33588 129 10 the the DET bracis-33588 129 11 maximum maximum ADJ bracis-33588 129 12 number number NOUN bracis-33588 129 13 of of ADP bracis-33588 129 14 iterations iteration NOUN bracis-33588 129 15 is be AUX bracis-33588 129 16 exceeded exceed VERB bracis-33588 129 17 . . PUNCT bracis-33588 130 1 ( ( PUNCT bracis-33588 130 2 right right ADJ bracis-33588 130 3 ) ) PUNCT bracis-33588 130 4 interactive interactive ADJ bracis-33588 130 5 restricted restrict VERB bracis-33588 130 6 : : PUNCT bracis-33588 130 7 we we PRON bracis-33588 130 8 prompt prompt VERB bracis-33588 130 9 the the DET bracis-33588 130 10 llm llm NOUN bracis-33588 130 11 to to PART bracis-33588 130 12 choose choose VERB bracis-33588 130 13 one one NUM bracis-33588 130 14 of of ADP bracis-33588 130 15 all all DET bracis-33588 130 16 possible possible ADJ bracis-33588 130 17 actions action NOUN bracis-33588 130 18 at at ADP bracis-33588 130 19 the the DET bracis-33588 130 20 current current ADJ bracis-33588 130 21 state state NOUN bracis-33588 130 22 . . PUNCT bracis-33588 131 1 this this DET bracis-33588 131 2 process process NOUN bracis-33588 131 3 continues continue VERB bracis-33588 131 4 until until SCONJ bracis-33588 131 5 the the DET bracis-33588 131 6 goal goal NOUN bracis-33588 131 7 is be AUX bracis-33588 131 8 reached reach VERB bracis-33588 131 9 or or CCONJ bracis-33588 131 10 the the DET bracis-33588 131 11 maximum maximum ADJ bracis-33588 131 12 number number NOUN bracis-33588 131 13 of of ADP bracis-33588 131 14 iterations iteration NOUN bracis-33588 131 15 is be AUX bracis-33588 131 16 exceeded exceed VERB bracis-33588 131 17 . . PUNCT bracis-33588 132 1 full full ADJ bracis-33588 132 2 size size NOUN bracis-33588 132 3 image image NOUN bracis-33588 132 4 4 4 NUM bracis-33588 132 5 experimental experimental ADJ bracis-33588 132 6 setup setup NOUN bracis-33588 132 7 the the DET bracis-33588 132 8 dataset dataset NOUN bracis-33588 132 9 is be AUX bracis-33588 132 10 obtained obtain VERB bracis-33588 132 11 from from ADP bracis-33588 132 12 [ [ X bracis-33588 132 13 14 14 NUM bracis-33588 132 14 ] ] PUNCT bracis-33588 132 15 , , PUNCT bracis-33588 132 16 which which PRON bracis-33588 132 17 provides provide VERB bracis-33588 132 18 a a DET bracis-33588 132 19 platform platform NOUN bracis-33588 132 20 to to PART bracis-33588 132 21 insert insert VERB bracis-33588 132 22 a a DET bracis-33588 132 23 valid valid ADJ bracis-33588 132 24 pddl pddl NOUN bracis-33588 132 25 domain domain NOUN bracis-33588 132 26 and and CCONJ bracis-33588 132 27 generate generate VERB bracis-33588 132 28 instances instance NOUN bracis-33588 132 29 of of ADP bracis-33588 132 30 it it PRON bracis-33588 132 31 . . PUNCT bracis-33588 133 1 for for ADP bracis-33588 133 2 this this DET bracis-33588 133 3 study study NOUN bracis-33588 133 4 , , PUNCT bracis-33588 133 5 we we PRON bracis-33588 133 6 utilized utilize VERB bracis-33588 133 7 the the DET bracis-33588 133 8 blockworld blockworld NOUN bracis-33588 133 9 domain domain NOUN bracis-33588 133 10 , , PUNCT bracis-33588 133 11 which which PRON bracis-33588 133 12 captures capture VERB bracis-33588 133 13 common common ADJ bracis-33588 133 14 - - PUNCT bracis-33588 133 15 sense sense NOUN bracis-33588 133 16 block block NOUN bracis-33588 133 17 manipulations manipulation NOUN bracis-33588 133 18 and and CCONJ bracis-33588 133 19 consists consist VERB bracis-33588 133 20 of of ADP bracis-33588 133 21 a a DET bracis-33588 133 22 set set NOUN bracis-33588 133 23 of of ADP bracis-33588 133 24 blocks block NOUN bracis-33588 133 25 . . PUNCT bracis-33588 134 1 each each DET bracis-33588 134 2 block block NOUN bracis-33588 134 3 is be AUX bracis-33588 134 4 uniquely uniquely ADV bracis-33588 134 5 identified identify VERB bracis-33588 134 6 by by ADP bracis-33588 134 7 color color NOUN bracis-33588 134 8 and and CCONJ bracis-33588 134 9 can can AUX bracis-33588 134 10 be be AUX bracis-33588 134 11 placed place VERB bracis-33588 134 12 either either CCONJ bracis-33588 134 13 on on ADP bracis-33588 134 14 a a DET bracis-33588 134 15 table table NOUN bracis-33588 134 16 or or CCONJ bracis-33588 134 17 on on ADP bracis-33588 134 18 top top NOUN bracis-33588 134 19 of of ADP bracis-33588 134 20 other other ADJ bracis-33588 134 21 blocks block NOUN bracis-33588 134 22 . . PUNCT bracis-33588 135 1 in in ADP bracis-33588 135 2 each each DET bracis-33588 135 3 instance instance NOUN bracis-33588 135 4 , , PUNCT bracis-33588 135 5 the the DET bracis-33588 135 6 initial initial ADJ bracis-33588 135 7 state state NOUN bracis-33588 135 8 is be AUX bracis-33588 135 9 a a DET bracis-33588 135 10 specific specific ADJ bracis-33588 135 11 block block NOUN bracis-33588 135 12 arrangement arrangement NOUN bracis-33588 135 13 , , PUNCT bracis-33588 135 14 and and CCONJ bracis-33588 135 15 the the DET bracis-33588 135 16 goal goal NOUN bracis-33588 135 17 state state NOUN bracis-33588 135 18 is be AUX bracis-33588 135 19 to to PART bracis-33588 135 20 arrange arrange VERB bracis-33588 135 21 some some PRON bracis-33588 135 22 of of ADP bracis-33588 135 23 these these DET bracis-33588 135 24 blocks block NOUN bracis-33588 135 25 in in ADP bracis-33588 135 26 a a DET bracis-33588 135 27 stack stack NOUN bracis-33588 135 28 in in ADP bracis-33588 135 29 a a DET bracis-33588 135 30 particular particular ADJ bracis-33588 135 31 order order NOUN bracis-33588 135 32 ( ( PUNCT bracis-33588 135 33 fig fig NOUN bracis-33588 135 34 . . PUNCT bracis-33588 136 1 2 2 NUM bracis-33588 136 2 ) ) PUNCT bracis-33588 136 3 . . PUNCT bracis-33588 137 1 the the DET bracis-33588 137 2 blockworld blockworld NOUN bracis-33588 137 3 domain domain NOUN bracis-33588 137 4 includes include VERB bracis-33588 137 5 four four NUM bracis-33588 137 6 different different ADJ bracis-33588 137 7 actions action NOUN bracis-33588 137 8 : : PUNCT bracis-33588 137 9 pick pick VERB bracis-33588 137 10 up up ADP bracis-33588 137 11 , , PUNCT bracis-33588 137 12 put put VERB bracis-33588 137 13 down down ADP bracis-33588 137 14 , , PUNCT bracis-33588 137 15 stack stack VERB bracis-33588 137 16 , , PUNCT bracis-33588 137 17 and and CCONJ bracis-33588 137 18 unstack unstack VERB bracis-33588 137 19 . . PUNCT bracis-33588 138 1 the the DET bracis-33588 138 2 preconditions precondition NOUN bracis-33588 138 3 for for ADP bracis-33588 138 4 each each DET bracis-33588 138 5 action action NOUN bracis-33588 138 6 are be AUX bracis-33588 138 7 as as SCONJ bracis-33588 138 8 follows follow VERB bracis-33588 138 9 : : PUNCT bracis-33588 138 10 to to PART bracis-33588 138 11 pick pick VERB bracis-33588 138 12 up up ADP bracis-33588 138 13 a a DET bracis-33588 138 14 block block NOUN bracis-33588 138 15 , , PUNCT bracis-33588 138 16 it it PRON bracis-33588 138 17 must must AUX bracis-33588 138 18 be be AUX bracis-33588 138 19 clear clear ADJ bracis-33588 138 20 ( ( PUNCT bracis-33588 138 21 no no DET bracis-33588 138 22 block block NOUN bracis-33588 138 23 stacked stack VERB bracis-33588 138 24 on on ADP bracis-33588 138 25 it it PRON bracis-33588 138 26 ) ) PUNCT bracis-33588 138 27 , , PUNCT bracis-33588 138 28 on on ADP bracis-33588 138 29 the the DET bracis-33588 138 30 table table NOUN bracis-33588 138 31 , , PUNCT bracis-33588 138 32 and and CCONJ bracis-33588 138 33 the the DET bracis-33588 138 34 hand hand NOUN bracis-33588 138 35 must must AUX bracis-33588 138 36 be be AUX bracis-33588 138 37 free free ADJ bracis-33588 138 38 . . PUNCT bracis-33588 139 1 to to PART bracis-33588 139 2 put put VERB bracis-33588 139 3 down down ADP bracis-33588 139 4 a a DET bracis-33588 139 5 block block NOUN bracis-33588 139 6 , , PUNCT bracis-33588 139 7 it it PRON bracis-33588 139 8 must must AUX bracis-33588 139 9 be be AUX bracis-33588 139 10 on on ADP bracis-33588 139 11 hand hand NOUN bracis-33588 139 12 . . PUNCT bracis-33588 140 1 to to PART bracis-33588 140 2 stack stack VERB bracis-33588 140 3 a a DET bracis-33588 140 4 block block NOUN bracis-33588 140 5 on on ADP bracis-33588 140 6 another another PRON bracis-33588 140 7 , , PUNCT bracis-33588 140 8 the the DET bracis-33588 140 9 first first ADJ bracis-33588 140 10 block block NOUN bracis-33588 140 11 must must AUX bracis-33588 140 12 be be AUX bracis-33588 140 13 on on ADP bracis-33588 140 14 hand hand NOUN bracis-33588 140 15 and and CCONJ bracis-33588 140 16 the the DET bracis-33588 140 17 second second ADJ bracis-33588 140 18 block block NOUN bracis-33588 140 19 must must AUX bracis-33588 140 20 be be AUX bracis-33588 140 21 clear clear ADJ bracis-33588 140 22 . . PUNCT bracis-33588 141 1 to to PART bracis-33588 141 2 unstack unstack VERB bracis-33588 141 3 a a DET bracis-33588 141 4 block block NOUN bracis-33588 141 5 from from ADP bracis-33588 141 6 another another PRON bracis-33588 141 7 , , PUNCT bracis-33588 141 8 the the DET bracis-33588 141 9 first first ADJ bracis-33588 141 10 block block NOUN bracis-33588 141 11 must must AUX bracis-33588 141 12 be be AUX bracis-33588 141 13 clear clear ADJ bracis-33588 141 14 , , PUNCT bracis-33588 141 15 stacked stack VERB bracis-33588 141 16 on on ADP bracis-33588 141 17 the the DET bracis-33588 141 18 second second ADJ bracis-33588 141 19 block block NOUN bracis-33588 141 20 , , PUNCT bracis-33588 141 21 and and CCONJ bracis-33588 141 22 the the DET bracis-33588 141 23 hand hand NOUN bracis-33588 141 24 must must AUX bracis-33588 141 25 be be AUX bracis-33588 141 26 free free ADJ bracis-33588 141 27 . . PUNCT bracis-33588 142 1 this this DET bracis-33588 142 2 particular particular ADJ bracis-33588 142 3 domain domain NOUN bracis-33588 142 4 is be AUX bracis-33588 142 5 widely widely ADV bracis-33588 142 6 adopted adopt VERB bracis-33588 142 7 in in ADP bracis-33588 142 8 the the DET bracis-33588 142 9 planning planning NOUN bracis-33588 142 10 literature literature NOUN bracis-33588 142 11 due due ADP bracis-33588 142 12 to to ADP bracis-33588 142 13 its its PRON bracis-33588 142 14 simplicity simplicity NOUN bracis-33588 142 15 and and CCONJ bracis-33588 142 16 alignment alignment NOUN bracis-33588 142 17 with with ADP bracis-33588 142 18 common common ADJ bracis-33588 142 19 - - PUNCT bracis-33588 142 20 sense sense NOUN bracis-33588 142 21 reasoning reasoning NOUN bracis-33588 142 22 [ [ X bracis-33588 142 23 5 5 NUM bracis-33588 142 24 , , PUNCT bracis-33588 142 25 8 8 NUM bracis-33588 142 26 ] ] PUNCT bracis-33588 142 27 . . PUNCT bracis-33588 143 1 in in ADP bracis-33588 143 2 this this DET bracis-33588 143 3 work work NOUN bracis-33588 143 4 , , PUNCT bracis-33588 143 5 we we PRON bracis-33588 143 6 generated generate VERB bracis-33588 143 7 a a DET bracis-33588 143 8 dataset dataset NOUN bracis-33588 143 9 with with ADP bracis-33588 143 10 768 768 NUM bracis-33588 143 11 instances instance NOUN bracis-33588 143 12 , , PUNCT bracis-33588 143 13 each each PRON bracis-33588 143 14 containing contain VERB bracis-33588 143 15 4 4 NUM bracis-33588 143 16 blocks block NOUN bracis-33588 143 17 . . PUNCT bracis-33588 144 1 the the DET bracis-33588 144 2 dataset dataset NOUN bracis-33588 144 3 is be AUX bracis-33588 144 4 balanced balance VERB bracis-33588 144 5 in in ADP bracis-33588 144 6 terms term NOUN bracis-33588 144 7 of of ADP bracis-33588 144 8 optimal optimal ADJ bracis-33588 144 9 plan plan NOUN bracis-33588 144 10 length length NOUN bracis-33588 144 11 , , PUNCT bracis-33588 144 12 which which PRON bracis-33588 144 13 ranges range VERB bracis-33588 144 14 from from ADP bracis-33588 144 15 2 2 NUM bracis-33588 144 16 to to ADP bracis-33588 144 17 12 12 NUM bracis-33588 144 18 actions action NOUN bracis-33588 144 19 . . PUNCT bracis-33588 145 1 we we PRON bracis-33588 145 2 use use VERB bracis-33588 145 3 the the DET bracis-33588 145 4 optimal optimal ADJ bracis-33588 145 5 plan plan NOUN bracis-33588 145 6 length length NOUN bracis-33588 145 7 as as ADP bracis-33588 145 8 an an DET bracis-33588 145 9 indicator indicator NOUN bracis-33588 145 10 of of ADP bracis-33588 145 11 the the DET bracis-33588 145 12 instance instance NOUN bracis-33588 145 13 ’s ’s PART bracis-33588 145 14 complexity complexity NOUN bracis-33588 145 15 . . PUNCT bracis-33588 146 1 for for ADP bracis-33588 146 2 each each DET bracis-33588 146 3 instance instance NOUN bracis-33588 146 4 , , PUNCT bracis-33588 146 5 we we PRON bracis-33588 146 6 use use VERB bracis-33588 146 7 the the DET bracis-33588 146 8 same same ADJ bracis-33588 146 9 context context NOUN bracis-33588 146 10 prompt prompt NOUN bracis-33588 146 11 as as ADP bracis-33588 146 12 in in ADP bracis-33588 146 13 [ [ X bracis-33588 146 14 14 14 NUM bracis-33588 146 15 ] ] PUNCT bracis-33588 146 16 . . PUNCT bracis-33588 147 1 all all DET bracis-33588 147 2 prompts prompt NOUN bracis-33588 147 3 are be AUX bracis-33588 147 4 zero zero NUM bracis-33588 147 5 - - PUNCT bracis-33588 147 6 shot shot NOUN bracis-33588 147 7 , , PUNCT bracis-33588 147 8 except except SCONJ bracis-33588 147 9 for for ADP bracis-33588 147 10 methods method NOUN bracis-33588 147 11 using use VERB bracis-33588 147 12 a a DET bracis-33588 147 13 cot cot NOUN bracis-33588 147 14 approach approach NOUN bracis-33588 147 15 , , PUNCT bracis-33588 147 16 where where SCONJ bracis-33588 147 17 a a DET bracis-33588 147 18 one one NUM bracis-33588 147 19 - - PUNCT bracis-33588 147 20 shot shot NOUN bracis-33588 147 21 approach approach NOUN bracis-33588 147 22 is be AUX bracis-33588 147 23 required require VERB bracis-33588 147 24 to to PART bracis-33588 147 25 induce induce VERB bracis-33588 147 26 structured structured ADJ bracis-33588 147 27 reasoning reasoning NOUN bracis-33588 147 28 . . PUNCT bracis-33588 148 1 we we PRON bracis-33588 148 2 evaluated evaluate VERB bracis-33588 148 3 three three NUM bracis-33588 148 4 different different ADJ bracis-33588 148 5 llms llm NOUN bracis-33588 148 6 in in ADP bracis-33588 148 7 this this DET bracis-33588 148 8 work work NOUN bracis-33588 148 9 : : PUNCT bracis-33588 148 10 mixtral:8x22b mixtral:8x22b ADJ bracis-33588 148 11 , , PUNCT bracis-33588 148 12 llama3:70b llama3:70b PROPN bracis-33588 148 13 , , PUNCT bracis-33588 148 14 and and CCONJ bracis-33588 148 15 gpt-4o gpt-4o ADJ bracis-33588 148 16 . . PUNCT bracis-33588 149 1 the the DET bracis-33588 149 2 temperature temperature NOUN bracis-33588 149 3 parameter parameter NOUN bracis-33588 149 4 is be AUX bracis-33588 149 5 set set VERB bracis-33588 149 6 to to ADP bracis-33588 149 7 0 0 NUM bracis-33588 149 8 for for ADP bracis-33588 149 9 all all DET bracis-33588 149 10 models model NOUN bracis-33588 149 11 , , PUNCT bracis-33588 149 12 ensuring ensure VERB bracis-33588 149 13 that that SCONJ bracis-33588 149 14 each each DET bracis-33588 149 15 experiment experiment NOUN bracis-33588 149 16 is be AUX bracis-33588 149 17 deterministic deterministic ADJ bracis-33588 149 18 . . PUNCT bracis-33588 150 1 our our PRON bracis-33588 150 2 goal goal NOUN bracis-33588 150 3 is be AUX bracis-33588 150 4 to to PART bracis-33588 150 5 verify verify VERB bracis-33588 150 6 the the DET bracis-33588 150 7 effectiveness effectiveness NOUN bracis-33588 150 8 of of ADP bracis-33588 150 9 the the DET bracis-33588 150 10 proposed propose VERB bracis-33588 150 11 methods method NOUN bracis-33588 150 12 independently independently ADV bracis-33588 150 13 of of ADP bracis-33588 150 14 the the DET bracis-33588 150 15 specific specific ADJ bracis-33588 150 16 llm llm PROPN bracis-33588 150 17 used use VERB bracis-33588 150 18 . . PUNCT bracis-33588 151 1 additionally additionally ADV bracis-33588 151 2 , , PUNCT bracis-33588 151 3 a a DET bracis-33588 151 4 maximum maximum NOUN bracis-33588 151 5 of of ADP bracis-33588 151 6 8 8 NUM bracis-33588 151 7 tries try NOUN bracis-33588 151 8 for for ADP bracis-33588 151 9 the the DET bracis-33588 151 10 preplanned preplanne VERB bracis-33588 151 11 validated validated ADJ bracis-33588 151 12 approach approach NOUN bracis-33588 151 13 and and CCONJ bracis-33588 151 14 16 16 NUM bracis-33588 151 15 invalid invalid ADJ bracis-33588 151 16 actions action NOUN bracis-33588 151 17 for for ADP bracis-33588 151 18 the the DET bracis-33588 151 19 interactive interactive ADJ bracis-33588 151 20 approaches approach NOUN bracis-33588 151 21 are be AUX bracis-33588 151 22 enforced enforce VERB bracis-33588 151 23 ( ( PUNCT bracis-33588 151 24 fig fig NOUN bracis-33588 151 25 . . PUNCT bracis-33588 152 1 3 3 NUM bracis-33588 152 2 ) ) PUNCT bracis-33588 152 3 . . PUNCT bracis-33588 153 1 the the DET bracis-33588 153 2 following follow VERB bracis-33588 153 3 metrics metric NOUN bracis-33588 153 4 are be AUX bracis-33588 153 5 calculated calculate VERB bracis-33588 153 6 for for ADP bracis-33588 153 7 each each DET bracis-33588 153 8 experiment experiment NOUN bracis-33588 153 9 : : PUNCT bracis-33588 153 10 success success NOUN bracis-33588 153 11 plan plan NOUN bracis-33588 153 12 : : PUNCT bracis-33588 153 13 indicates indicate VERB bracis-33588 153 14 if if SCONJ bracis-33588 153 15 the the DET bracis-33588 153 16 generated generate VERB bracis-33588 153 17 plan plan NOUN bracis-33588 153 18 successfully successfully ADV bracis-33588 153 19 reaches reach VERB bracis-33588 153 20 the the DET bracis-33588 153 21 goal goal NOUN bracis-33588 153 22 without without ADP bracis-33588 153 23 any any DET bracis-33588 153 24 errors error NOUN bracis-33588 153 25 . . PUNCT bracis-33588 154 1 valid valid ADJ bracis-33588 154 2 plan plan NOUN bracis-33588 154 3 : : PUNCT bracis-33588 154 4 indicates indicate VERB bracis-33588 154 5 if if SCONJ bracis-33588 154 6 the the DET bracis-33588 154 7 generated generate VERB bracis-33588 154 8 plan plan NOUN bracis-33588 154 9 is be AUX bracis-33588 154 10 valid valid ADJ bracis-33588 154 11 , , PUNCT bracis-33588 154 12 meaning mean VERB bracis-33588 154 13 it it PRON bracis-33588 154 14 does do AUX bracis-33588 154 15 not not PART bracis-33588 154 16 contain contain VERB bracis-33588 154 17 any any DET bracis-33588 154 18 invalid invalid ADJ bracis-33588 154 19 actions action NOUN bracis-33588 154 20 . . PUNCT bracis-33588 155 1 optimal optimal ADJ bracis-33588 155 2 plan plan NOUN bracis-33588 155 3 : : PUNCT bracis-33588 155 4 indicates indicate VERB bracis-33588 155 5 if if SCONJ bracis-33588 155 6 the the DET bracis-33588 155 7 generated generate VERB bracis-33588 155 8 plan plan NOUN bracis-33588 155 9 is be AUX bracis-33588 155 10 the the DET bracis-33588 155 11 optimal optimal ADJ bracis-33588 155 12 plan plan NOUN bracis-33588 155 13 . . PUNCT bracis-33588 156 1 relative relative ADJ bracis-33588 156 2 plan plan PROPN bracis-33588 156 3 length length NOUN bracis-33588 156 4 : : PUNCT bracis-33588 156 5 the the DET bracis-33588 156 6 total total ADJ bracis-33588 156 7 number number NOUN bracis-33588 156 8 of of ADP bracis-33588 156 9 actions action NOUN bracis-33588 156 10 in in ADP bracis-33588 156 11 the the DET bracis-33588 156 12 generated generate VERB bracis-33588 156 13 plan plan NOUN bracis-33588 156 14 divided divide VERB bracis-33588 156 15 by by ADP bracis-33588 156 16 the the DET bracis-33588 156 17 optimal optimal ADJ bracis-33588 156 18 plan plan NOUN bracis-33588 156 19 length length NOUN bracis-33588 156 20 . . PUNCT bracis-33588 157 1 tokens token NOUN bracis-33588 157 2 : : PUNCT bracis-33588 157 3 the the DET bracis-33588 157 4 number number NOUN bracis-33588 157 5 of of ADP bracis-33588 157 6 tokens token NOUN bracis-33588 157 7 processed process VERB bracis-33588 157 8 during during ADP bracis-33588 157 9 inference inference NOUN bracis-33588 157 10 , , PUNCT bracis-33588 157 11 measured measure VERB bracis-33588 157 12 in in ADP bracis-33588 157 13 thousands thousand NOUN bracis-33588 157 14 . . PUNCT bracis-33588 158 1 distance distance NOUN bracis-33588 158 2 to to ADP bracis-33588 158 3 initial initial ADJ bracis-33588 158 4 state state NOUN bracis-33588 158 5 : : PUNCT bracis-33588 158 6 the the DET bracis-33588 158 7 number number NOUN bracis-33588 158 8 of of ADP bracis-33588 158 9 actions action NOUN bracis-33588 158 10 from from ADP bracis-33588 158 11 the the DET bracis-33588 158 12 initial initial ADJ bracis-33588 158 13 state state NOUN bracis-33588 158 14 to to ADP bracis-33588 158 15 the the DET bracis-33588 158 16 final final ADJ bracis-33588 158 17 state state NOUN bracis-33588 158 18 of of ADP bracis-33588 158 19 the the DET bracis-33588 158 20 generated generate VERB bracis-33588 158 21 plan plan NOUN bracis-33588 158 22 . . PUNCT bracis-33588 159 1 distance distance NOUN bracis-33588 159 2 to to PART bracis-33588 159 3 goal goal VERB bracis-33588 159 4 state state NOUN bracis-33588 159 5 : : PUNCT bracis-33588 159 6 the the DET bracis-33588 159 7 number number NOUN bracis-33588 159 8 of of ADP bracis-33588 159 9 actions action NOUN bracis-33588 159 10 from from ADP bracis-33588 159 11 the the DET bracis-33588 159 12 final final ADJ bracis-33588 159 13 state state NOUN bracis-33588 159 14 of of ADP bracis-33588 159 15 the the DET bracis-33588 159 16 generated generate VERB bracis-33588 159 17 plan plan NOUN bracis-33588 159 18 to to ADP bracis-33588 159 19 the the DET bracis-33588 159 20 goal goal NOUN bracis-33588 159 21 state state NOUN bracis-33588 159 22 . . PUNCT bracis-33588 160 1 5 5 NUM bracis-33588 160 2 results result NOUN bracis-33588 160 3 numerical numerical ADJ bracis-33588 160 4 results result NOUN bracis-33588 160 5 are be AUX bracis-33588 160 6 presented present VERB bracis-33588 160 7 in in ADP bracis-33588 160 8 table table NOUN bracis-33588 160 9     SPACE bracis-33588 160 10 1 1 NUM bracis-33588 160 11 , , PUNCT bracis-33588 160 12 displaying display VERB bracis-33588 160 13 average average ADJ bracis-33588 160 14 values value NOUN bracis-33588 160 15 of of ADP bracis-33588 160 16 accuracy accuracy NOUN bracis-33588 160 17 , , PUNCT bracis-33588 160 18 optimal optimal ADJ bracis-33588 160 19 plan plan NOUN bracis-33588 160 20 percentage percentage NOUN bracis-33588 160 21 , , PUNCT bracis-33588 160 22 number number NOUN bracis-33588 160 23 of of ADP bracis-33588 160 24 processed process VERB bracis-33588 160 25 tokens token NOUN bracis-33588 160 26 and and CCONJ bracis-33588 160 27 relative relative ADJ bracis-33588 160 28 plan plan NOUN bracis-33588 160 29 length length NOUN bracis-33588 160 30 metrics metric NOUN bracis-33588 160 31 for for ADP bracis-33588 160 32 all all DET bracis-33588 160 33 methods method NOUN bracis-33588 160 34 and and CCONJ bracis-33588 160 35 models model NOUN bracis-33588 160 36 . . PUNCT bracis-33588 161 1 the the DET bracis-33588 161 2 validated validate VERB bracis-33588 161 3 and and CCONJ bracis-33588 161 4 restricted restrict VERB bracis-33588 161 5 interactive interactive ADJ bracis-33588 161 6 methods method NOUN bracis-33588 161 7 consistently consistently ADV bracis-33588 161 8 outperform outperform VERB bracis-33588 161 9 other other ADJ bracis-33588 161 10 setups setup NOUN bracis-33588 161 11 in in ADP bracis-33588 161 12 most most ADJ bracis-33588 161 13 cases case NOUN bracis-33588 161 14 . . PUNCT bracis-33588 162 1 they they PRON bracis-33588 162 2 achieve achieve VERB bracis-33588 162 3 higher high ADJ bracis-33588 162 4 accuracy accuracy NOUN bracis-33588 162 5 than than ADP bracis-33588 162 6 their their PRON bracis-33588 162 7 preplanned preplanned ADJ bracis-33588 162 8 and and CCONJ bracis-33588 162 9 unvalidated unvalidated ADJ bracis-33588 162 10 counterparts counterpart NOUN bracis-33588 162 11 regardless regardless ADV bracis-33588 162 12 of of ADP bracis-33588 162 13 the the DET bracis-33588 162 14 model model NOUN bracis-33588 162 15 . . PUNCT bracis-33588 163 1 an an DET bracis-33588 163 2 important important ADJ bracis-33588 163 3 finding finding NOUN bracis-33588 163 4 is be AUX bracis-33588 163 5 that that SCONJ bracis-33588 163 6 the the DET bracis-33588 163 7 cot cot NOUN bracis-33588 163 8 approach approach NOUN bracis-33588 163 9 achieved achieve VERB bracis-33588 163 10 good good ADJ bracis-33588 163 11 results result NOUN bracis-33588 163 12 exclusively exclusively ADV bracis-33588 163 13 with with ADP bracis-33588 163 14 the the DET bracis-33588 163 15 gpt-4o gpt-4o PROPN bracis-33588 163 16 model model NOUN bracis-33588 163 17 , , PUNCT bracis-33588 163 18 which which PRON bracis-33588 163 19 is be AUX bracis-33588 163 20 specifically specifically ADV bracis-33588 163 21 trained train VERB bracis-33588 163 22 to to PART bracis-33588 163 23 handle handle VERB bracis-33588 163 24 cot cot NOUN bracis-33588 163 25 reasoning reasoning NOUN bracis-33588 163 26 . . PUNCT bracis-33588 164 1 in in ADP bracis-33588 164 2 contrast contrast NOUN bracis-33588 164 3 , , PUNCT bracis-33588 164 4 the the DET bracis-33588 164 5 mixtral mixtral ADJ bracis-33588 164 6 and and CCONJ bracis-33588 164 7 llama llama NOUN bracis-33588 164 8 models model NOUN bracis-33588 164 9 performed perform VERB bracis-33588 164 10 worse worse ADV bracis-33588 164 11 with with ADP bracis-33588 164 12 the the DET bracis-33588 164 13 cot cot NOUN bracis-33588 164 14 scheme scheme NOUN bracis-33588 164 15 in in ADP bracis-33588 164 16 both both CCONJ bracis-33588 164 17 the the DET bracis-33588 164 18 preplanned preplanned ADJ bracis-33588 164 19 and and CCONJ bracis-33588 164 20 the the DET bracis-33588 164 21 interactive interactive ADJ bracis-33588 164 22 validated validate VERB bracis-33588 164 23 methods method NOUN bracis-33588 164 24 . . PUNCT bracis-33588 165 1 this this PRON bracis-33588 165 2 provides provide VERB bracis-33588 165 3 evidence evidence NOUN bracis-33588 165 4 that that SCONJ bracis-33588 165 5 fsm fsm PROPN bracis-33588 165 6 - - PUNCT bracis-33588 165 7 based base VERB bracis-33588 165 8 validation validation NOUN bracis-33588 165 9 provides provide VERB bracis-33588 165 10 increased increase VERB bracis-33588 165 11 accuracy accuracy NOUN bracis-33588 165 12 in in ADP bracis-33588 165 13 a a DET bracis-33588 165 14 more more ADV bracis-33588 165 15 generic generic ADJ bracis-33588 165 16 sense sense NOUN bracis-33588 165 17 , , PUNCT bracis-33588 165 18 being be AUX bracis-33588 165 19 independent independent ADJ bracis-33588 165 20 of of ADP bracis-33588 165 21 how how SCONJ bracis-33588 165 22 the the DET bracis-33588 165 23 particular particular ADJ bracis-33588 165 24 llm llm PROPN bracis-33588 165 25 was be AUX bracis-33588 165 26 trained train VERB bracis-33588 165 27 . . PUNCT bracis-33588 166 1 table table NOUN bracis-33588 166 2 1 1 NUM bracis-33588 166 3 . . PUNCT bracis-33588 166 4 numerical numerical ADJ bracis-33588 166 5 results result NOUN bracis-33588 166 6 for for ADP bracis-33588 166 7 all all DET bracis-33588 166 8 methods method NOUN bracis-33588 166 9 and and CCONJ bracis-33588 166 10 models model NOUN bracis-33588 166 11 . . PUNCT bracis-33588 167 1 the the DET bracis-33588 167 2 metrics metric NOUN bracis-33588 167 3 include include VERB bracis-33588 167 4 accuracy accuracy NOUN bracis-33588 167 5 percentage percentage NOUN bracis-33588 167 6 , , PUNCT bracis-33588 167 7 number number NOUN bracis-33588 167 8 of of ADP bracis-33588 167 9 tokens token NOUN bracis-33588 167 10 processed process VERB bracis-33588 167 11 , , PUNCT bracis-33588 167 12 and and CCONJ bracis-33588 167 13 relative relative ADJ bracis-33588 167 14 plan plan NOUN bracis-33588 167 15 length length NOUN bracis-33588 167 16 , , PUNCT bracis-33588 167 17 calculated calculate VERB bracis-33588 167 18 based base VERB bracis-33588 167 19 on on ADP bracis-33588 167 20 all all DET bracis-33588 167 21 generated generate VERB bracis-33588 167 22 plans plan NOUN bracis-33588 167 23 . . PUNCT bracis-33588 168 1 the the DET bracis-33588 168 2 optimal optimal ADJ bracis-33588 168 3 plan plan NOUN bracis-33588 168 4 percentage percentage NOUN bracis-33588 168 5 is be AUX bracis-33588 168 6 calculated calculate VERB bracis-33588 168 7 only only ADV bracis-33588 168 8 for for ADP bracis-33588 168 9 the the DET bracis-33588 168 10 successful successful ADJ bracis-33588 168 11 plans plan NOUN bracis-33588 168 12 . . PUNCT bracis-33588 169 1 these these DET bracis-33588 169 2 results result NOUN bracis-33588 169 3 represent represent VERB bracis-33588 169 4 the the DET bracis-33588 169 5 average average ADJ bracis-33588 169 6 values value NOUN bracis-33588 169 7 across across ADP bracis-33588 169 8 the the DET bracis-33588 169 9 entire entire ADJ bracis-33588 169 10 dataset dataset NOUN bracis-33588 169 11 . . PUNCT bracis-33588 170 1 std std NOUN bracis-33588 170 2 refers refer VERB bracis-33588 170 3 to to ADP bracis-33588 170 4 standard standard ADJ bracis-33588 170 5 prompt prompt NOUN bracis-33588 170 6 and and CCONJ bracis-33588 170 7 cot cot NOUN bracis-33588 170 8 to to PART bracis-33588 170 9 chain chain NOUN bracis-33588 170 10 of of ADP bracis-33588 170 11 thought think VERB bracis-33588 170 12 prompt.full prompt.full NUM bracis-33588 170 13 size size NOUN bracis-33588 170 14 table table NOUN bracis-33588 170 15 the the DET bracis-33588 170 16 optimal optimal ADJ bracis-33588 170 17 plan plan NOUN bracis-33588 170 18 percentage percentage NOUN bracis-33588 170 19 , , PUNCT bracis-33588 170 20 which which PRON bracis-33588 170 21 is be AUX bracis-33588 170 22 calculated calculate VERB bracis-33588 170 23 for for ADP bracis-33588 170 24 successful successful ADJ bracis-33588 170 25 plans plan NOUN bracis-33588 170 26 , , PUNCT bracis-33588 170 27 is be AUX bracis-33588 170 28 higher high ADJ bracis-33588 170 29 for for ADP bracis-33588 170 30 preplanned preplanne VERB bracis-33588 170 31 setups setup NOUN bracis-33588 170 32 for for ADP bracis-33588 170 33 two two NUM bracis-33588 170 34 main main ADJ bracis-33588 170 35 reasons reason NOUN bracis-33588 170 36 : : PUNCT bracis-33588 170 37 first first ADV bracis-33588 170 38 , , PUNCT bracis-33588 170 39 since since SCONJ bracis-33588 170 40 preplanned preplanned ADJ bracis-33588 170 41 methods method NOUN bracis-33588 170 42 generate generate VERB bracis-33588 170 43 fewer few ADJ bracis-33588 170 44 successful successful ADJ bracis-33588 170 45 plans plan NOUN bracis-33588 170 46 , , PUNCT bracis-33588 170 47 often often ADV bracis-33588 170 48 for for ADP bracis-33588 170 49 simpler simple ADJ bracis-33588 170 50 tasks task NOUN bracis-33588 170 51 , , PUNCT bracis-33588 170 52 they they PRON bracis-33588 170 53 tend tend VERB bracis-33588 170 54 to to PART bracis-33588 170 55 show show VERB bracis-33588 170 56 a a DET bracis-33588 170 57 higher high ADJ bracis-33588 170 58 optimal optimal ADJ bracis-33588 170 59 plan plan NOUN bracis-33588 170 60 percentage percentage NOUN bracis-33588 170 61 on on ADP bracis-33588 170 62 average average ADJ bracis-33588 170 63 . . PUNCT bracis-33588 171 1 second second ADJ bracis-33588 171 2 , , PUNCT bracis-33588 171 3 interactive interactive ADJ bracis-33588 171 4 validated validated ADJ bracis-33588 171 5 setups setup NOUN bracis-33588 171 6 often often ADV bracis-33588 171 7 generate generate VERB bracis-33588 171 8 longer long ADJ bracis-33588 171 9 successful successful ADJ bracis-33588 171 10 plans plan NOUN bracis-33588 171 11 , , PUNCT bracis-33588 171 12 because because SCONJ bracis-33588 171 13 these these DET bracis-33588 171 14 methods method NOUN bracis-33588 171 15 have have VERB bracis-33588 171 16 a a DET bracis-33588 171 17 deterministic deterministic ADJ bracis-33588 171 18 function function NOUN bracis-33588 171 19 to to ADP bracis-33588 171 20 hard hard ADJ bracis-33588 171 21 stop stop VERB bracis-33588 171 22 inference inference NOUN bracis-33588 171 23 when when SCONJ bracis-33588 171 24 the the DET bracis-33588 171 25 goal goal NOUN bracis-33588 171 26 state state NOUN bracis-33588 171 27 is be AUX bracis-33588 171 28 reached reach VERB bracis-33588 171 29 , , PUNCT bracis-33588 171 30 instead instead ADV bracis-33588 171 31 of of ADP bracis-33588 171 32 relying rely VERB bracis-33588 171 33 on on ADP bracis-33588 171 34 the the DET bracis-33588 171 35 llm llm NOUN bracis-33588 171 36 to to PART bracis-33588 171 37 recognize recognize VERB bracis-33588 171 38 it it PRON bracis-33588 171 39 . . PUNCT bracis-33588 172 1 this this PRON bracis-33588 172 2 allows allow VERB bracis-33588 172 3 for for ADP bracis-33588 172 4 longer long ADJ bracis-33588 172 5 plans plan NOUN bracis-33588 172 6 to to PART bracis-33588 172 7 eventually eventually ADV bracis-33588 172 8 achieve achieve VERB bracis-33588 172 9 the the DET bracis-33588 172 10 goal goal NOUN bracis-33588 172 11 state state NOUN bracis-33588 172 12 in in ADP bracis-33588 172 13 situations situation NOUN bracis-33588 172 14 that that PRON bracis-33588 172 15 other other ADJ bracis-33588 172 16 methods method NOUN bracis-33588 172 17 fail fail VERB bracis-33588 172 18 . . PUNCT bracis-33588 173 1 a a DET bracis-33588 173 2 downside downside NOUN bracis-33588 173 3 of of ADP bracis-33588 173 4 using use VERB bracis-33588 173 5 interactive interactive ADJ bracis-33588 173 6 methods method NOUN bracis-33588 173 7 is be AUX bracis-33588 173 8 their their PRON bracis-33588 173 9 increased increase VERB bracis-33588 173 10 computational computational ADJ bracis-33588 173 11 cost cost NOUN bracis-33588 173 12 . . PUNCT bracis-33588 174 1 as as SCONJ bracis-33588 174 2 also also ADV bracis-33588 174 3 shown show VERB bracis-33588 174 4 in in ADP bracis-33588 174 5 table table NOUN bracis-33588 174 6     SPACE bracis-33588 174 7 1 1 NUM bracis-33588 174 8 , , PUNCT bracis-33588 174 9 the the DET bracis-33588 174 10 interactive interactive ADJ bracis-33588 174 11 setup setup NOUN bracis-33588 174 12 processes process VERB bracis-33588 174 13 an an DET bracis-33588 174 14 order order NOUN bracis-33588 174 15 of of ADP bracis-33588 174 16 magnitude magnitude NOUN bracis-33588 174 17 more more ADJ bracis-33588 174 18 tokens token NOUN bracis-33588 174 19 than than ADP bracis-33588 174 20 the the DET bracis-33588 174 21 preplanned preplanne VERB bracis-33588 174 22 setups setup NOUN bracis-33588 174 23 . . PUNCT bracis-33588 175 1 this this PRON bracis-33588 175 2 is be AUX bracis-33588 175 3 because because SCONJ bracis-33588 175 4 interactive interactive ADJ bracis-33588 175 5 schemes scheme NOUN bracis-33588 175 6 involve involve VERB bracis-33588 175 7 a a DET bracis-33588 175 8 sequence sequence NOUN bracis-33588 175 9 of of ADP bracis-33588 175 10 prompts prompt NOUN bracis-33588 175 11 where where SCONJ bracis-33588 175 12 all all DET bracis-33588 175 13 previous previous ADJ bracis-33588 175 14 history history NOUN bracis-33588 175 15 is be AUX bracis-33588 175 16 used use VERB bracis-33588 175 17 as as ADP bracis-33588 175 18 input input NOUN bracis-33588 175 19 , , PUNCT bracis-33588 175 20 causing cause VERB bracis-33588 175 21 the the DET bracis-33588 175 22 size size NOUN bracis-33588 175 23 of of ADP bracis-33588 175 24 each each DET bracis-33588 175 25 prompt prompt NOUN bracis-33588 175 26 to to PART bracis-33588 175 27 increase increase VERB bracis-33588 175 28 with with ADP bracis-33588 175 29 each each DET bracis-33588 175 30 iteration iteration NOUN bracis-33588 175 31 . . PUNCT bracis-33588 176 1 special special ADJ bracis-33588 176 2 cases case NOUN bracis-33588 176 3 are be AUX bracis-33588 176 4 those those PRON bracis-33588 176 5 with with ADP bracis-33588 176 6 the the DET bracis-33588 176 7 cot cot NOUN bracis-33588 176 8 scheme scheme NOUN bracis-33588 176 9 , , PUNCT bracis-33588 176 10 which which PRON bracis-33588 176 11 significantly significantly ADV bracis-33588 176 12 increases increase VERB bracis-33588 176 13 the the DET bracis-33588 176 14 number number NOUN bracis-33588 176 15 of of ADP bracis-33588 176 16 processed process VERB bracis-33588 176 17 tokens token NOUN bracis-33588 176 18 for for ADP bracis-33588 176 19 both both CCONJ bracis-33588 176 20 preplanned preplanned ADJ bracis-33588 176 21 and and CCONJ bracis-33588 176 22 interactive interactive ADJ bracis-33588 176 23 setups setup NOUN bracis-33588 176 24 . . PUNCT bracis-33588 177 1 it it PRON bracis-33588 177 2 ’s ’ VERB bracis-33588 177 3 important important ADJ bracis-33588 177 4 to to PART bracis-33588 177 5 note note VERB bracis-33588 177 6 that that SCONJ bracis-33588 177 7 there there PRON bracis-33588 177 8 is be VERB bracis-33588 177 9 potential potential ADJ bracis-33588 177 10 for for ADP bracis-33588 177 11 prompt prompt ADJ bracis-33588 177 12 optimization optimization NOUN bracis-33588 177 13 in in ADP bracis-33588 177 14 these these DET bracis-33588 177 15 schemes scheme NOUN bracis-33588 177 16 , , PUNCT bracis-33588 177 17 which which PRON bracis-33588 177 18 could could AUX bracis-33588 177 19 make make VERB bracis-33588 177 20 them they PRON bracis-33588 177 21 faster fast ADJ bracis-33588 177 22 and and CCONJ bracis-33588 177 23 cheaper cheap ADJ bracis-33588 177 24 . . PUNCT bracis-33588 178 1 as as SCONJ bracis-33588 178 2 displayed display VERB bracis-33588 178 3 in in ADP bracis-33588 178 4 table table NOUN bracis-33588 178 5     SPACE bracis-33588 178 6 2 2 NUM bracis-33588 178 7 the the DET bracis-33588 178 8 preplanned preplanne VERB bracis-33588 178 9 and and CCONJ bracis-33588 178 10 interactive interactive ADJ bracis-33588 178 11 methods method NOUN bracis-33588 178 12 without without ADP bracis-33588 178 13 validation validation NOUN bracis-33588 178 14 struggle struggle NOUN bracis-33588 178 15 with with ADP bracis-33588 178 16 a a DET bracis-33588 178 17 low low ADJ bracis-33588 178 18 percentage percentage NOUN bracis-33588 178 19 of of ADP bracis-33588 178 20 valid valid ADJ bracis-33588 178 21 plans plan NOUN bracis-33588 178 22 , , PUNCT bracis-33588 178 23 as as SCONJ bracis-33588 178 24 they they PRON bracis-33588 178 25 are be AUX bracis-33588 178 26 not not PART bracis-33588 178 27 robust robust ADJ bracis-33588 178 28 against against ADP bracis-33588 178 29 llm llm PROPN bracis-33588 178 30 hallucinations hallucination NOUN bracis-33588 178 31 . . PUNCT bracis-33588 179 1 in in ADP bracis-33588 179 2 contrast contrast NOUN bracis-33588 179 3 , , PUNCT bracis-33588 179 4 the the DET bracis-33588 179 5 interactive interactive ADJ bracis-33588 179 6 validated validate VERB bracis-33588 179 7 and and CCONJ bracis-33588 179 8 restricted restricted ADJ bracis-33588 179 9 methods method NOUN bracis-33588 179 10 , , PUNCT bracis-33588 179 11 by by ADP bracis-33588 179 12 design design NOUN bracis-33588 179 13 , , PUNCT bracis-33588 179 14 handle handle VERB bracis-33588 179 15 invalid invalid ADJ bracis-33588 179 16 inputs input NOUN bracis-33588 179 17 from from ADP bracis-33588 179 18 the the DET bracis-33588 179 19 llm llm NOUN bracis-33588 179 20 , , PUNCT bracis-33588 179 21 ensuring ensure VERB bracis-33588 179 22 that that SCONJ bracis-33588 179 23 all all DET bracis-33588 179 24 generated generate VERB bracis-33588 179 25 plans plan NOUN bracis-33588 179 26 are be AUX bracis-33588 179 27 valid valid ADJ bracis-33588 179 28 . . PUNCT bracis-33588 180 1 once once ADV bracis-33588 180 2 again again ADV bracis-33588 180 3 , , PUNCT bracis-33588 180 4 it it PRON bracis-33588 180 5 is be AUX bracis-33588 180 6 relevant relevant ADJ bracis-33588 180 7 to to PART bracis-33588 180 8 note note VERB bracis-33588 180 9 that that SCONJ bracis-33588 180 10 using use VERB bracis-33588 180 11 cot cot NOUN bracis-33588 180 12 with with ADP bracis-33588 180 13 mixtral mixtral ADJ bracis-33588 180 14 and and CCONJ bracis-33588 180 15 llama llama NOUN bracis-33588 180 16 models model NOUN bracis-33588 180 17 frequently frequently ADV bracis-33588 180 18 returned return VERB bracis-33588 180 19 invalid invalid ADJ bracis-33588 180 20 actions action NOUN bracis-33588 180 21 , , PUNCT bracis-33588 180 22 particularly particularly ADV bracis-33588 180 23 in in ADP bracis-33588 180 24 unfamiliar unfamiliar ADJ bracis-33588 180 25 formats format NOUN bracis-33588 180 26 , , PUNCT bracis-33588 180 27 demonstrating demonstrate VERB bracis-33588 180 28 that that SCONJ bracis-33588 180 29 such such ADJ bracis-33588 180 30 prompt prompt ADJ bracis-33588 180 31 engineering engineering NOUN bracis-33588 180 32 techniques technique NOUN bracis-33588 180 33 can can AUX bracis-33588 180 34 be be AUX bracis-33588 180 35 sensitive sensitive ADJ bracis-33588 180 36 to to ADP bracis-33588 180 37 various various ADJ bracis-33588 180 38 factors factor NOUN bracis-33588 180 39 and and CCONJ bracis-33588 180 40 may may AUX bracis-33588 180 41 work work VERB bracis-33588 180 42 unpredictably unpredictably ADV bracis-33588 180 43 across across ADP bracis-33588 180 44 different different ADJ bracis-33588 180 45 models model NOUN bracis-33588 180 46 . . PUNCT bracis-33588 181 1 table table NOUN bracis-33588 181 2 2 2 NUM bracis-33588 181 3 . . X bracis-33588 181 4 percentage percentage NOUN bracis-33588 181 5 of of ADP bracis-33588 181 6 valid valid ADJ bracis-33588 181 7 plans plan NOUN bracis-33588 181 8 for for ADP bracis-33588 181 9 methods method NOUN bracis-33588 181 10 that that PRON bracis-33588 181 11 can can AUX bracis-33588 181 12 not not PART bracis-33588 181 13 handle handle VERB bracis-33588 181 14 invalid invalid ADJ bracis-33588 181 15 input input NOUN bracis-33588 181 16 . . PUNCT bracis-33588 182 1 these these DET bracis-33588 182 2 results result NOUN bracis-33588 182 3 represent represent VERB bracis-33588 182 4 the the DET bracis-33588 182 5 average average ADJ bracis-33588 182 6 values value NOUN bracis-33588 182 7 across across ADP bracis-33588 182 8 the the DET bracis-33588 182 9 entire entire ADJ bracis-33588 182 10 dataset.full dataset.full NOUN bracis-33588 182 11 size size NOUN bracis-33588 182 12 table table NOUN bracis-33588 182 13 considering consider VERB bracis-33588 182 14 the the DET bracis-33588 182 15 notably notably ADV bracis-33588 182 16 superior superior ADJ bracis-33588 182 17 performance performance NOUN bracis-33588 182 18 of of ADP bracis-33588 182 19 the the DET bracis-33588 182 20 validated validate VERB bracis-33588 182 21 and and CCONJ bracis-33588 182 22 restricted restrict VERB bracis-33588 182 23 interactive interactive ADJ bracis-33588 182 24 methods method NOUN bracis-33588 182 25 compared compare VERB bracis-33588 182 26 to to ADP bracis-33588 182 27 others other NOUN bracis-33588 182 28 , , PUNCT bracis-33588 182 29 our our PRON bracis-33588 182 30 analysis analysis NOUN bracis-33588 182 31 will will AUX bracis-33588 182 32 primarily primarily ADV bracis-33588 182 33 focus focus VERB bracis-33588 182 34 on on ADP bracis-33588 182 35 these these DET bracis-33588 182 36 methods method NOUN bracis-33588 182 37 . . PUNCT bracis-33588 183 1 figure figure NOUN bracis-33588 183 2     SPACE bracis-33588 183 3 4 4 NUM bracis-33588 183 4 displays display VERB bracis-33588 183 5 the the DET bracis-33588 183 6 average average ADJ bracis-33588 183 7 accuracy accuracy NOUN bracis-33588 183 8 for for ADP bracis-33588 183 9 each each DET bracis-33588 183 10 optimal optimal ADJ bracis-33588 183 11 plan plan NOUN bracis-33588 183 12 length length NOUN bracis-33588 183 13 , , PUNCT bracis-33588 183 14 serving serve VERB bracis-33588 183 15 as as ADP bracis-33588 183 16 a a DET bracis-33588 183 17 complexity complexity NOUN bracis-33588 183 18 measure measure NOUN bracis-33588 183 19 for for ADP bracis-33588 183 20 each each DET bracis-33588 183 21 task task NOUN bracis-33588 183 22 in in ADP bracis-33588 183 23 the the DET bracis-33588 183 24 dataset dataset NOUN bracis-33588 183 25 . . PUNCT bracis-33588 184 1 as as ADP bracis-33588 184 2 the the DET bracis-33588 184 3 optimal optimal ADJ bracis-33588 184 4 plan plan NOUN bracis-33588 184 5 length length NOUN bracis-33588 184 6 increases increase NOUN bracis-33588 184 7 , , PUNCT bracis-33588 184 8 accuracy accuracy NOUN bracis-33588 184 9 decreases decrease NOUN bracis-33588 184 10 , , PUNCT bracis-33588 184 11 indicating indicate VERB bracis-33588 184 12 that that SCONJ bracis-33588 184 13 planning planning NOUN bracis-33588 184 14 capabilities capability NOUN bracis-33588 184 15 are be AUX bracis-33588 184 16 sensitive sensitive ADJ bracis-33588 184 17 to to ADP bracis-33588 184 18 the the DET bracis-33588 184 19 complexity complexity NOUN bracis-33588 184 20 of of ADP bracis-33588 184 21 the the DET bracis-33588 184 22 tasks task NOUN bracis-33588 184 23 . . PUNCT bracis-33588 185 1 furthermore furthermore ADV bracis-33588 185 2 , , PUNCT bracis-33588 185 3 the the DET bracis-33588 185 4 two two NUM bracis-33588 185 5 setups setup NOUN bracis-33588 185 6 show show VERB bracis-33588 185 7 different different ADJ bracis-33588 185 8 behaviors behavior NOUN bracis-33588 185 9 : : PUNCT bracis-33588 185 10 the the DET bracis-33588 185 11 interactive interactive ADJ bracis-33588 185 12 validated validated ADJ bracis-33588 185 13 setup setup NOUN bracis-33588 185 14 demonstrates demonstrate VERB bracis-33588 185 15 less less ADJ bracis-33588 185 16 sensitivity sensitivity NOUN bracis-33588 185 17 to to ADP bracis-33588 185 18 optimal optimal ADJ bracis-33588 185 19 plan plan NOUN bracis-33588 185 20 length length NOUN bracis-33588 185 21 , , PUNCT bracis-33588 185 22 achieving achieve VERB bracis-33588 185 23 a a DET bracis-33588 185 24 significant significant ADJ bracis-33588 185 25 number number NOUN bracis-33588 185 26 of of ADP bracis-33588 185 27 correct correct ADJ bracis-33588 185 28 plans plan NOUN bracis-33588 185 29 for for ADP bracis-33588 185 30 more more ADJ bracis-33588 185 31 complex complex ADJ bracis-33588 185 32 tasks task NOUN bracis-33588 185 33 , , PUNCT bracis-33588 185 34 particularly particularly ADV bracis-33588 185 35 with with ADP bracis-33588 185 36 gpt-4o gpt-4o PROPN bracis-33588 185 37 . . PUNCT bracis-33588 186 1 in in ADP bracis-33588 186 2 contrast contrast NOUN bracis-33588 186 3 , , PUNCT bracis-33588 186 4 the the DET bracis-33588 186 5 interactive interactive ADJ bracis-33588 186 6 restricted restricted ADJ bracis-33588 186 7 setup setup NOUN bracis-33588 186 8 shows show VERB bracis-33588 186 9 more more ADJ bracis-33588 186 10 pronounced pronounced ADJ bracis-33588 186 11 sensitivity sensitivity NOUN bracis-33588 186 12 , , PUNCT bracis-33588 186 13 achieving achieve VERB bracis-33588 186 14 higher high ADJ bracis-33588 186 15 accuracy accuracy NOUN bracis-33588 186 16 for for ADP bracis-33588 186 17 simpler simple ADJ bracis-33588 186 18 tasks task NOUN bracis-33588 186 19 but but CCONJ bracis-33588 186 20 experiencing experience VERB bracis-33588 186 21 a a DET bracis-33588 186 22 decrease decrease NOUN bracis-33588 186 23 in in ADP bracis-33588 186 24 accuracy accuracy NOUN bracis-33588 186 25 for for ADP bracis-33588 186 26 more more ADJ bracis-33588 186 27 complex complex ADJ bracis-33588 186 28 ones one NOUN bracis-33588 186 29 . . PUNCT bracis-33588 187 1 fig fig NOUN bracis-33588 187 2 . . PUNCT bracis-33588 188 1 4 4 X bracis-33588 188 2 . . X bracis-33588 188 3 the the DET bracis-33588 188 4 evaluation evaluation NOUN bracis-33588 188 5 of of ADP bracis-33588 188 6 average average ADJ bracis-33588 188 7 accuracy accuracy NOUN bracis-33588 188 8 for for ADP bracis-33588 188 9 the the DET bracis-33588 188 10 interactive interactive ADJ bracis-33588 188 11 validated validate VERB bracis-33588 188 12 and and CCONJ bracis-33588 188 13 restricted restricted ADJ bracis-33588 188 14 methods method NOUN bracis-33588 188 15 is be AUX bracis-33588 188 16 divided divide VERB bracis-33588 188 17 by by ADP bracis-33588 188 18 optimal optimal ADJ bracis-33588 188 19 plan plan NOUN bracis-33588 188 20 length length NOUN bracis-33588 188 21 , , PUNCT bracis-33588 188 22 which which PRON bracis-33588 188 23 represents represent VERB bracis-33588 188 24 the the DET bracis-33588 188 25 minimal minimal ADJ bracis-33588 188 26 number number NOUN bracis-33588 188 27 of of ADP bracis-33588 188 28 actions action NOUN bracis-33588 188 29 needed need VERB bracis-33588 188 30 to to PART bracis-33588 188 31 achieve achieve VERB bracis-33588 188 32 the the DET bracis-33588 188 33 goal goal NOUN bracis-33588 188 34 state state NOUN bracis-33588 188 35 . . PUNCT bracis-33588 189 1 full full ADJ bracis-33588 189 2 size size NOUN bracis-33588 189 3 image image NOUN bracis-33588 189 4 this this DET bracis-33588 189 5 behavior behavior NOUN bracis-33588 189 6 is be AUX bracis-33588 189 7 further far ADV bracis-33588 189 8 analysed analyse VERB bracis-33588 189 9 in in ADP bracis-33588 189 10 figs fig NOUN bracis-33588 189 11 . . PUNCT bracis-33588 189 12     SPACE bracis-33588 189 13 5 5 NUM bracis-33588 189 14 and and CCONJ bracis-33588 189 15 6 6 NUM bracis-33588 189 16 , , PUNCT bracis-33588 189 17 which which PRON bracis-33588 189 18 represent represent VERB bracis-33588 189 19 the the DET bracis-33588 189 20 distance distance NOUN bracis-33588 189 21 from from ADP bracis-33588 189 22 the the DET bracis-33588 189 23 final final ADJ bracis-33588 189 24 state state NOUN bracis-33588 189 25 of of ADP bracis-33588 189 26 the the DET bracis-33588 189 27 generated generate VERB bracis-33588 189 28 plan plan NOUN bracis-33588 189 29 to to ADP bracis-33588 189 30 the the DET bracis-33588 189 31 goal goal NOUN bracis-33588 189 32 and and CCONJ bracis-33588 189 33 initial initial ADJ bracis-33588 189 34 state state NOUN bracis-33588 189 35 , , PUNCT bracis-33588 189 36 respectively respectively ADV bracis-33588 189 37 . . PUNCT bracis-33588 190 1 these these DET bracis-33588 190 2 metrics metric NOUN bracis-33588 190 3 are be AUX bracis-33588 190 4 only only ADV bracis-33588 190 5 calculated calculate VERB bracis-33588 190 6 for for ADP bracis-33588 190 7 generated generate VERB bracis-33588 190 8 plans plan NOUN bracis-33588 190 9 that that PRON bracis-33588 190 10 did do AUX bracis-33588 190 11 n’t not PART bracis-33588 190 12 achieve achieve VERB bracis-33588 190 13 the the DET bracis-33588 190 14 goal goal NOUN bracis-33588 190 15 . . PUNCT bracis-33588 191 1 figure figure NOUN bracis-33588 191 2     SPACE bracis-33588 191 3 5 5 NUM bracis-33588 191 4 shows show VERB bracis-33588 191 5 that that SCONJ bracis-33588 191 6 the the DET bracis-33588 191 7 two two NUM bracis-33588 191 8 methods method NOUN bracis-33588 191 9 have have VERB bracis-33588 191 10 a a DET bracis-33588 191 11 similar similar ADJ bracis-33588 191 12 behavior behavior NOUN bracis-33588 191 13 : : PUNCT bracis-33588 191 14 when when SCONJ bracis-33588 191 15 they they PRON bracis-33588 191 16 produce produce VERB bracis-33588 191 17 plans plan NOUN bracis-33588 191 18 that that PRON bracis-33588 191 19 do do AUX bracis-33588 191 20 n’t not PART bracis-33588 191 21 achieve achieve VERB bracis-33588 191 22 the the DET bracis-33588 191 23 goal goal NOUN bracis-33588 191 24 state state NOUN bracis-33588 191 25 , , PUNCT bracis-33588 191 26 these these DET bracis-33588 191 27 plans plan NOUN bracis-33588 191 28 tend tend VERB bracis-33588 191 29 to to PART bracis-33588 191 30 finish finish VERB bracis-33588 191 31 far far ADV bracis-33588 191 32 from from ADP bracis-33588 191 33 the the DET bracis-33588 191 34 goal goal NOUN bracis-33588 191 35 state state NOUN bracis-33588 191 36 . . PUNCT bracis-33588 192 1 on on ADP bracis-33588 192 2 average average ADJ bracis-33588 192 3 , , PUNCT bracis-33588 192 4 the the DET bracis-33588 192 5 final final ADJ bracis-33588 192 6 state state NOUN bracis-33588 192 7 of of ADP bracis-33588 192 8 the the DET bracis-33588 192 9 predicted predict VERB bracis-33588 192 10 plans plan NOUN bracis-33588 192 11 is be AUX bracis-33588 192 12 as as ADV bracis-33588 192 13 far far ADV bracis-33588 192 14 as as ADP bracis-33588 192 15 the the DET bracis-33588 192 16 initial initial ADJ bracis-33588 192 17 state state NOUN bracis-33588 192 18 of of ADP bracis-33588 192 19 each each DET bracis-33588 192 20 task task NOUN bracis-33588 192 21 , , PUNCT bracis-33588 192 22 indicating indicate VERB bracis-33588 192 23 that that SCONJ bracis-33588 192 24 the the DET bracis-33588 192 25 final final ADJ bracis-33588 192 26 state state NOUN bracis-33588 192 27 is be AUX bracis-33588 192 28 not not PART bracis-33588 192 29 a a DET bracis-33588 192 30 good good ADJ bracis-33588 192 31 approximation approximation NOUN bracis-33588 192 32 of of ADP bracis-33588 192 33 the the DET bracis-33588 192 34 goal goal NOUN bracis-33588 192 35 state state NOUN bracis-33588 192 36 . . PUNCT bracis-33588 193 1 however however ADV bracis-33588 193 2 , , PUNCT bracis-33588 193 3 in in ADP bracis-33588 193 4 fig fig NOUN bracis-33588 193 5 . . PUNCT bracis-33588 193 6     SPACE bracis-33588 193 7 6 6 NUM bracis-33588 193 8 , , PUNCT bracis-33588 193 9 one one PRON bracis-33588 193 10 can can AUX bracis-33588 193 11 see see VERB bracis-33588 193 12 the the DET bracis-33588 193 13 distance distance NOUN bracis-33588 193 14 from from ADP bracis-33588 193 15 the the DET bracis-33588 193 16 final final ADJ bracis-33588 193 17 state state NOUN bracis-33588 193 18 of of ADP bracis-33588 193 19 the the DET bracis-33588 193 20 produced produce VERB bracis-33588 193 21 plan plan NOUN bracis-33588 193 22 to to ADP bracis-33588 193 23 the the DET bracis-33588 193 24 initial initial ADJ bracis-33588 193 25 state state NOUN bracis-33588 193 26 . . PUNCT bracis-33588 194 1 this this DET bracis-33588 194 2 visualization visualization NOUN bracis-33588 194 3 shows show VERB bracis-33588 194 4 that that SCONJ bracis-33588 194 5 the the DET bracis-33588 194 6 distances distance NOUN bracis-33588 194 7 for for ADP bracis-33588 194 8 the the DET bracis-33588 194 9 interactive interactive ADJ bracis-33588 194 10 validated validate VERB bracis-33588 194 11 method method NOUN bracis-33588 194 12 are be AUX bracis-33588 194 13 greater great ADJ bracis-33588 194 14 than than ADP bracis-33588 194 15 the the DET bracis-33588 194 16 distances distance NOUN bracis-33588 194 17 for for ADP bracis-33588 194 18 the the DET bracis-33588 194 19 interactive interactive ADJ bracis-33588 194 20 restricted restrict VERB bracis-33588 194 21 method method NOUN bracis-33588 194 22 . . PUNCT bracis-33588 195 1 thus thus ADV bracis-33588 195 2 , , PUNCT bracis-33588 195 3 validated validated ADJ bracis-33588 195 4 methods method NOUN bracis-33588 195 5 tends tend VERB bracis-33588 195 6 to to PART bracis-33588 195 7 explore explore VERB bracis-33588 195 8 more more ADJ bracis-33588 195 9 of of ADP bracis-33588 195 10 the the DET bracis-33588 195 11 state state NOUN bracis-33588 195 12 space space NOUN bracis-33588 195 13 , , PUNCT bracis-33588 195 14 resulting result VERB bracis-33588 195 15 in in ADP bracis-33588 195 16 final final ADJ bracis-33588 195 17 states state NOUN bracis-33588 195 18 farther far ADV bracis-33588 195 19 away away ADV bracis-33588 195 20 from from ADP bracis-33588 195 21 the the DET bracis-33588 195 22 initial initial ADJ bracis-33588 195 23 state state NOUN bracis-33588 195 24 , , PUNCT bracis-33588 195 25 while while SCONJ bracis-33588 195 26 restricted restricted ADJ bracis-33588 195 27 methods method NOUN bracis-33588 195 28 tend tend VERB bracis-33588 195 29 to to PART bracis-33588 195 30 perform perform VERB bracis-33588 195 31 local local ADJ bracis-33588 195 32 searches search NOUN bracis-33588 195 33 . . PUNCT bracis-33588 196 1 this this DET bracis-33588 196 2 behavior behavior NOUN bracis-33588 196 3 is be AUX bracis-33588 196 4 more more ADV bracis-33588 196 5 pronounced pronounced ADJ bracis-33588 196 6 for for ADP bracis-33588 196 7 larger large ADJ bracis-33588 196 8 and and CCONJ bracis-33588 196 9 more more ADV bracis-33588 196 10 complex complex ADJ bracis-33588 196 11 models model NOUN bracis-33588 196 12 , , PUNCT bracis-33588 196 13 such such ADJ bracis-33588 196 14 as as ADP bracis-33588 196 15 gpt-4o gpt-4o ADJ bracis-33588 196 16 and and CCONJ bracis-33588 196 17 llama3 llama3 ADJ bracis-33588 196 18 . . PUNCT bracis-33588 197 1 fig fig NOUN bracis-33588 197 2 . . PUNCT bracis-33588 198 1 5 5 X bracis-33588 198 2 . . PUNCT bracis-33588 198 3 the the DET bracis-33588 198 4 distance distance NOUN bracis-33588 198 5 of of ADP bracis-33588 198 6 the the DET bracis-33588 198 7 generated generate VERB bracis-33588 198 8 plan plan NOUN bracis-33588 198 9 ’s ’s PART bracis-33588 198 10 final final ADJ bracis-33588 198 11 state state NOUN bracis-33588 198 12 from from ADP bracis-33588 198 13 the the DET bracis-33588 198 14 goal goal NOUN bracis-33588 198 15 state state NOUN bracis-33588 198 16 is be AUX bracis-33588 198 17 measured measure VERB bracis-33588 198 18 in in ADP bracis-33588 198 19 terms term NOUN bracis-33588 198 20 of of ADP bracis-33588 198 21 the the DET bracis-33588 198 22 minimum minimum ADJ bracis-33588 198 23 number number NOUN bracis-33588 198 24 of of ADP bracis-33588 198 25 actions action NOUN bracis-33588 198 26 required require VERB bracis-33588 198 27 to to ADP bracis-33588 198 28 transition transition NOUN bracis-33588 198 29 from from ADP bracis-33588 198 30 the the DET bracis-33588 198 31 final final ADJ bracis-33588 198 32 state state NOUN bracis-33588 198 33 of of ADP bracis-33588 198 34 the the DET bracis-33588 198 35 generated generate VERB bracis-33588 198 36 plan plan NOUN bracis-33588 198 37 to to ADP bracis-33588 198 38 the the DET bracis-33588 198 39 goal goal NOUN bracis-33588 198 40 state state NOUN bracis-33588 198 41 . . PUNCT bracis-33588 199 1 it it PRON bracis-33588 199 2 was be AUX bracis-33588 199 3 only only ADV bracis-33588 199 4 calculated calculate VERB bracis-33588 199 5 for for ADP bracis-33588 199 6 plans plan NOUN bracis-33588 199 7 that that PRON bracis-33588 199 8 did do AUX bracis-33588 199 9 n’t not PART bracis-33588 199 10 achieve achieve VERB bracis-33588 199 11 the the DET bracis-33588 199 12 goal goal NOUN bracis-33588 199 13 . . PUNCT bracis-33588 200 1 full full ADJ bracis-33588 200 2 size size NOUN bracis-33588 200 3 image image NOUN bracis-33588 200 4 fig fig NOUN bracis-33588 200 5 . . PUNCT bracis-33588 201 1 6 6 NUM bracis-33588 201 2 . . PUNCT bracis-33588 201 3 the the DET bracis-33588 201 4 distance distance NOUN bracis-33588 201 5 of of ADP bracis-33588 201 6 the the DET bracis-33588 201 7 generated generate VERB bracis-33588 201 8 plan plan NOUN bracis-33588 201 9 ’s ’s PART bracis-33588 201 10 final final ADJ bracis-33588 201 11 state state NOUN bracis-33588 201 12 from from ADP bracis-33588 201 13 the the DET bracis-33588 201 14 initial initial ADJ bracis-33588 201 15 state state NOUN bracis-33588 201 16 is be AUX bracis-33588 201 17 measured measure VERB bracis-33588 201 18 in in ADP bracis-33588 201 19 terms term NOUN bracis-33588 201 20 of of ADP bracis-33588 201 21 the the DET bracis-33588 201 22 minimum minimum ADJ bracis-33588 201 23 number number NOUN bracis-33588 201 24 of of ADP bracis-33588 201 25 actions action NOUN bracis-33588 201 26 required require VERB bracis-33588 201 27 to to ADP bracis-33588 201 28 transition transition NOUN bracis-33588 201 29 from from ADP bracis-33588 201 30 the the DET bracis-33588 201 31 final final ADJ bracis-33588 201 32 state state NOUN bracis-33588 201 33 of of ADP bracis-33588 201 34 the the DET bracis-33588 201 35 generated generate VERB bracis-33588 201 36 plan plan NOUN bracis-33588 201 37 to to ADP bracis-33588 201 38 the the DET bracis-33588 201 39 initial initial ADJ bracis-33588 201 40 state state NOUN bracis-33588 201 41 . . PUNCT bracis-33588 202 1 it it PRON bracis-33588 202 2 was be AUX bracis-33588 202 3 only only ADV bracis-33588 202 4 calculated calculate VERB bracis-33588 202 5 for for ADP bracis-33588 202 6 plans plan NOUN bracis-33588 202 7 that that PRON bracis-33588 202 8 did do AUX bracis-33588 202 9 n’t not PART bracis-33588 202 10 achieve achieve VERB bracis-33588 202 11 the the DET bracis-33588 202 12 goal goal NOUN bracis-33588 202 13 . . PUNCT bracis-33588 203 1 full full ADJ bracis-33588 203 2 size size NOUN bracis-33588 203 3 image image NOUN bracis-33588 203 4 fig fig NOUN bracis-33588 203 5 . . PUNCT bracis-33588 204 1 7 7 X bracis-33588 204 2 . . X bracis-33588 204 3 we we PRON bracis-33588 204 4 calculate calculate VERB bracis-33588 204 5 the the DET bracis-33588 204 6 number number NOUN bracis-33588 204 7 of of ADP bracis-33588 204 8 revisited revisit VERB bracis-33588 204 9 states state NOUN bracis-33588 204 10 within within ADP bracis-33588 204 11 a a DET bracis-33588 204 12 generated generate VERB bracis-33588 204 13 plan plan NOUN bracis-33588 204 14 by by ADP bracis-33588 204 15 summing sum VERB bracis-33588 204 16 up up ADP bracis-33588 204 17 the the DET bracis-33588 204 18 occurrences occurrence NOUN bracis-33588 204 19 of of ADP bracis-33588 204 20 each each DET bracis-33588 204 21 state state NOUN bracis-33588 204 22 that that PRON bracis-33588 204 23 appears appear VERB bracis-33588 204 24 more more ADJ bracis-33588 204 25 than than ADP bracis-33588 204 26 once once ADV bracis-33588 204 27 . . PUNCT bracis-33588 205 1 this this DET bracis-33588 205 2 calculation calculation NOUN bracis-33588 205 3 is be AUX bracis-33588 205 4 performed perform VERB bracis-33588 205 5 for for ADP bracis-33588 205 6 all all DET bracis-33588 205 7 the the DET bracis-33588 205 8 plans plan NOUN bracis-33588 205 9 generated generate VERB bracis-33588 205 10 . . PUNCT bracis-33588 206 1 full full ADJ bracis-33588 206 2 size size NOUN bracis-33588 206 3 image image NOUN bracis-33588 206 4 figure figure NOUN bracis-33588 206 5     SPACE bracis-33588 206 6 7 7 NUM bracis-33588 206 7 presents present VERB bracis-33588 206 8 further further ADJ bracis-33588 206 9 evidence evidence NOUN bracis-33588 206 10 for for ADP bracis-33588 206 11 the the DET bracis-33588 206 12 difference difference NOUN bracis-33588 206 13 in in ADP bracis-33588 206 14 exploratory exploratory ADJ bracis-33588 206 15 behavior behavior NOUN bracis-33588 206 16 between between ADP bracis-33588 206 17 the the DET bracis-33588 206 18 methods method NOUN bracis-33588 206 19 . . PUNCT bracis-33588 207 1 it it PRON bracis-33588 207 2 shows show VERB bracis-33588 207 3 the the DET bracis-33588 207 4 average average ADJ bracis-33588 207 5 number number NOUN bracis-33588 207 6 of of ADP bracis-33588 207 7 times time NOUN bracis-33588 207 8 each each DET bracis-33588 207 9 model model NOUN bracis-33588 207 10 revisited revisit VERB bracis-33588 207 11 states state NOUN bracis-33588 207 12 within within ADP bracis-33588 207 13 a a DET bracis-33588 207 14 generated generate VERB bracis-33588 207 15 plan plan NOUN bracis-33588 207 16 . . PUNCT bracis-33588 208 1 we we PRON bracis-33588 208 2 observe observe VERB bracis-33588 208 3 a a DET bracis-33588 208 4 significant significant ADJ bracis-33588 208 5 difference difference NOUN bracis-33588 208 6 : : PUNCT bracis-33588 208 7 the the DET bracis-33588 208 8 interactive interactive ADJ bracis-33588 208 9 validated validate VERB bracis-33588 208 10 method method NOUN bracis-33588 208 11 exhibits exhibit VERB bracis-33588 208 12 a a DET bracis-33588 208 13 lower low ADJ bracis-33588 208 14 number number NOUN bracis-33588 208 15 of of ADP bracis-33588 208 16 repeated repeat VERB bracis-33588 208 17 states state NOUN bracis-33588 208 18 , , PUNCT bracis-33588 208 19 indicating indicate VERB bracis-33588 208 20 a a DET bracis-33588 208 21 tendency tendency NOUN bracis-33588 208 22 to to PART bracis-33588 208 23 explore explore VERB bracis-33588 208 24 diverse diverse ADJ bracis-33588 208 25 states state NOUN bracis-33588 208 26 . . PUNCT bracis-33588 209 1 conversely conversely ADV bracis-33588 209 2 , , PUNCT bracis-33588 209 3 the the DET bracis-33588 209 4 interactive interactive ADJ bracis-33588 209 5 restricted restrict VERB bracis-33588 209 6 method method NOUN bracis-33588 209 7 frequently frequently ADV bracis-33588 209 8 revisits revisit VERB bracis-33588 209 9 states state NOUN bracis-33588 209 10 , , PUNCT bracis-33588 209 11 suggesting suggest VERB bracis-33588 209 12 a a DET bracis-33588 209 13 propensity propensity NOUN bracis-33588 209 14 to to PART bracis-33588 209 15 get get AUX bracis-33588 209 16 stuck stick VERB bracis-33588 209 17 in in ADP bracis-33588 209 18 loops loop NOUN bracis-33588 209 19 . . PUNCT bracis-33588 210 1 this this DET bracis-33588 210 2 looping loop VERB bracis-33588 210 3 behavior behavior NOUN bracis-33588 210 4 is be AUX bracis-33588 210 5 likely likely ADV bracis-33588 210 6 inherent inherent ADJ bracis-33588 210 7 to to ADP bracis-33588 210 8 the the DET bracis-33588 210 9 restricted restricted ADJ bracis-33588 210 10 setup setup NOUN bracis-33588 210 11 . . PUNCT bracis-33588 211 1 restricted restrict VERB bracis-33588 211 2 models model NOUN bracis-33588 211 3 receive receive VERB bracis-33588 211 4 previous previous ADJ bracis-33588 211 5 actions action NOUN bracis-33588 211 6 as as ADP bracis-33588 211 7 input input NOUN bracis-33588 211 8 , , PUNCT bracis-33588 211 9 but but CCONJ bracis-33588 211 10 often often ADV bracis-33588 211 11 fail fail VERB bracis-33588 211 12 to to PART bracis-33588 211 13 recognize recognize VERB bracis-33588 211 14 when when SCONJ bracis-33588 211 15 they they PRON bracis-33588 211 16 ’re ’re AUX bracis-33588 211 17 trapped trap VERB bracis-33588 211 18 in in ADP bracis-33588 211 19 a a DET bracis-33588 211 20 cycle cycle NOUN bracis-33588 211 21 . . PUNCT bracis-33588 212 1 this this PRON bracis-33588 212 2 potentially potentially ADV bracis-33588 212 3 encourages encourage VERB bracis-33588 212 4 short short ADJ bracis-33588 212 5 - - PUNCT bracis-33588 212 6 term term NOUN bracis-33588 212 7 decision decision NOUN bracis-33588 212 8 - - PUNCT bracis-33588 212 9 making making NOUN bracis-33588 212 10 , , PUNCT bracis-33588 212 11 hindering hinder VERB bracis-33588 212 12 their their PRON bracis-33588 212 13 ability ability NOUN bracis-33588 212 14 to to PART bracis-33588 212 15 analyze analyze VERB bracis-33588 212 16 past past ADJ bracis-33588 212 17 actions action NOUN bracis-33588 212 18 and and CCONJ bracis-33588 212 19 states state NOUN bracis-33588 212 20 . . PUNCT bracis-33588 213 1 we we PRON bracis-33588 213 2 suspect suspect VERB bracis-33588 213 3 this this DET bracis-33588 213 4 issue issue NOUN bracis-33588 213 5 is be AUX bracis-33588 213 6 exacerbated exacerbate VERB bracis-33588 213 7 by by ADP bracis-33588 213 8 the the DET bracis-33588 213 9 requirement requirement NOUN bracis-33588 213 10 to to PART bracis-33588 213 11 return return VERB bracis-33588 213 12 action action NOUN bracis-33588 213 13 numbers number NOUN bracis-33588 213 14 instead instead ADV bracis-33588 213 15 of of ADP bracis-33588 213 16 names name NOUN bracis-33588 213 17 in in ADP bracis-33588 213 18 the the DET bracis-33588 213 19 restricted restricted ADJ bracis-33588 213 20 setting setting NOUN bracis-33588 213 21 . . PUNCT bracis-33588 214 1 this this DET bracis-33588 214 2 implicit implicit ADJ bracis-33588 214 3 task task NOUN bracis-33588 214 4 progress progress NOUN bracis-33588 214 5 representation representation NOUN bracis-33588 214 6 might might AUX bracis-33588 214 7 make make VERB bracis-33588 214 8 it it PRON bracis-33588 214 9 challenging challenge VERB bracis-33588 214 10 for for ADP bracis-33588 214 11 the the DET bracis-33588 214 12 model model NOUN bracis-33588 214 13 to to PART bracis-33588 214 14 consider consider VERB bracis-33588 214 15 the the DET bracis-33588 214 16 entire entire ADJ bracis-33588 214 17 historical historical ADJ bracis-33588 214 18 trajectory trajectory NOUN bracis-33588 214 19 when when SCONJ bracis-33588 214 20 choosing choose VERB bracis-33588 214 21 the the DET bracis-33588 214 22 next next ADJ bracis-33588 214 23 action action NOUN bracis-33588 214 24 . . PUNCT bracis-33588 215 1 consequently consequently ADV bracis-33588 215 2 , , PUNCT bracis-33588 215 3 the the DET bracis-33588 215 4 restricted restricted ADJ bracis-33588 215 5 version version NOUN bracis-33588 215 6 tends tend VERB bracis-33588 215 7 towards towards ADP bracis-33588 215 8 local local ADJ bracis-33588 215 9 optimizations optimization NOUN bracis-33588 215 10 , , PUNCT bracis-33588 215 11 leading lead VERB bracis-33588 215 12 to to ADP bracis-33588 215 13 frequent frequent ADJ bracis-33588 215 14 loop loop NOUN bracis-33588 215 15 formation formation NOUN bracis-33588 215 16 . . PUNCT bracis-33588 216 1 6 6 NUM bracis-33588 216 2 conclusion conclusion NOUN bracis-33588 216 3 our our PRON bracis-33588 216 4 results result NOUN bracis-33588 216 5 provide provide VERB bracis-33588 216 6 evidence evidence NOUN bracis-33588 216 7 that that SCONJ bracis-33588 216 8 incorporating incorporate VERB bracis-33588 216 9 fsms fsm NOUN bracis-33588 216 10 as as ADP bracis-33588 216 11 a a DET bracis-33588 216 12 guiding guide VERB bracis-33588 216 13 structure structure NOUN bracis-33588 216 14 enhances enhance VERB bracis-33588 216 15 llms llm NOUN bracis-33588 216 16 ’ ' PUNCT bracis-33588 216 17 ability ability NOUN bracis-33588 216 18 to to PART bracis-33588 216 19 solve solve VERB bracis-33588 216 20 planning planning NOUN bracis-33588 216 21 problems problem NOUN bracis-33588 216 22 . . PUNCT bracis-33588 217 1 by by ADP bracis-33588 217 2 interacting interact VERB bracis-33588 217 3 with with ADP bracis-33588 217 4 the the DET bracis-33588 217 5 fsm fsm PROPN bracis-33588 217 6 and and CCONJ bracis-33588 217 7 leveraging leverage VERB bracis-33588 217 8 integrated integrated ADJ bracis-33588 217 9 validations validation NOUN bracis-33588 217 10 , , PUNCT bracis-33588 217 11 feedback feedback NOUN bracis-33588 217 12 loops loop NOUN bracis-33588 217 13 , , PUNCT bracis-33588 217 14 and and CCONJ bracis-33588 217 15 restrictions restriction NOUN bracis-33588 217 16 , , PUNCT bracis-33588 217 17 llms llm NOUN bracis-33588 217 18 demonstrably demonstrably ADV bracis-33588 217 19 generate generate VERB bracis-33588 217 20 plans plan NOUN bracis-33588 217 21 with with ADP bracis-33588 217 22 increased increase VERB bracis-33588 217 23 accuracy accuracy NOUN bracis-33588 217 24 across across ADP bracis-33588 217 25 tasks task NOUN bracis-33588 217 26 of of ADP bracis-33588 217 27 varying vary VERB bracis-33588 217 28 complexity complexity NOUN bracis-33588 217 29 . . PUNCT bracis-33588 218 1 although although SCONJ bracis-33588 218 2 the the DET bracis-33588 218 3 accuracy accuracy NOUN bracis-33588 218 4 achieved achieve VERB bracis-33588 218 5 is be AUX bracis-33588 218 6 not not PART bracis-33588 218 7 yet yet ADV bracis-33588 218 8 ideal ideal ADJ bracis-33588 218 9 , , PUNCT bracis-33588 218 10 the the DET bracis-33588 218 11 proposed propose VERB bracis-33588 218 12 method method NOUN bracis-33588 218 13 demonstrates demonstrate VERB bracis-33588 218 14 a a DET bracis-33588 218 15 valuable valuable ADJ bracis-33588 218 16 tool tool NOUN bracis-33588 218 17 for for ADP bracis-33588 218 18 improving improve VERB bracis-33588 218 19 model model NOUN bracis-33588 218 20 inference inference NOUN bracis-33588 218 21 in in ADP bracis-33588 218 22 reasoning reasoning NOUN bracis-33588 218 23 tasks task NOUN bracis-33588 218 24 , , PUNCT bracis-33588 218 25 offering offer VERB bracis-33588 218 26 benefits benefit NOUN bracis-33588 218 27 independent independent ADJ bracis-33588 218 28 of of ADP bracis-33588 218 29 other other ADJ bracis-33588 218 30 prompt prompt ADJ bracis-33588 218 31 engineering engineering NOUN bracis-33588 218 32 techniques technique NOUN bracis-33588 218 33 . . PUNCT bracis-33588 219 1 fsm fsm PROPN bracis-33588 219 2 integration integration NOUN bracis-33588 219 3 was be AUX bracis-33588 219 4 also also ADV bracis-33588 219 5 compared compare VERB bracis-33588 219 6 to to ADP bracis-33588 219 7 the the DET bracis-33588 219 8 cot cot NOUN bracis-33588 219 9 prompting prompt VERB bracis-33588 219 10 technique technique NOUN bracis-33588 219 11 in in ADP bracis-33588 219 12 both both CCONJ bracis-33588 219 13 preplanned preplanne VERB bracis-33588 219 14 and and CCONJ bracis-33588 219 15 interactive interactive ADJ bracis-33588 219 16 validated validated ADJ bracis-33588 219 17 schemes scheme NOUN bracis-33588 219 18 . . PUNCT bracis-33588 220 1 cot cot NOUN bracis-33588 220 2 showed show VERB bracis-33588 220 3 superior superior ADJ bracis-33588 220 4 performance performance NOUN bracis-33588 220 5 exclusively exclusively ADV bracis-33588 220 6 for for ADP bracis-33588 220 7 the the DET bracis-33588 220 8 gpt-4o gpt-4o PROPN bracis-33588 220 9 model model NOUN bracis-33588 220 10 , , PUNCT bracis-33588 220 11 while while SCONJ bracis-33588 220 12 fsm fsm PROPN bracis-33588 220 13 integration integration NOUN bracis-33588 220 14 greatly greatly ADV bracis-33588 220 15 increased increase VERB bracis-33588 220 16 accuracy accuracy NOUN bracis-33588 220 17 for for ADP bracis-33588 220 18 all all DET bracis-33588 220 19 models model NOUN bracis-33588 220 20 . . PUNCT bracis-33588 221 1 this this PRON bracis-33588 221 2 provides provide VERB bracis-33588 221 3 evidence evidence NOUN bracis-33588 221 4 that that SCONJ bracis-33588 221 5 fsm fsm PROPN bracis-33588 221 6 integration integration NOUN bracis-33588 221 7 is be AUX bracis-33588 221 8 a a DET bracis-33588 221 9 more more ADV bracis-33588 221 10 consistent consistent ADJ bracis-33588 221 11 solution solution NOUN bracis-33588 221 12 than than ADP bracis-33588 221 13 prompt prompt ADJ bracis-33588 221 14 engineering engineering NOUN bracis-33588 221 15 techniques technique NOUN bracis-33588 221 16 that that PRON bracis-33588 221 17 can can AUX bracis-33588 221 18 behave behave VERB bracis-33588 221 19 unpredictably unpredictably ADV bracis-33588 221 20 across across ADP bracis-33588 221 21 different different ADJ bracis-33588 221 22 scenarios scenario NOUN bracis-33588 221 23 . . PUNCT bracis-33588 222 1 the the DET bracis-33588 222 2 proposed propose VERB bracis-33588 222 3 interactive interactive ADJ bracis-33588 222 4 validated validate VERB bracis-33588 222 5 and and CCONJ bracis-33588 222 6 restricted restricted ADJ bracis-33588 222 7 setups setup NOUN bracis-33588 222 8 offer offer VERB bracis-33588 222 9 a a DET bracis-33588 222 10 crucial crucial ADJ bracis-33588 222 11 advantage advantage NOUN bracis-33588 222 12 by by ADP bracis-33588 222 13 being be AUX bracis-33588 222 14 inherently inherently ADV bracis-33588 222 15 designed design VERB bracis-33588 222 16 to to PART bracis-33588 222 17 handle handle VERB bracis-33588 222 18 invalid invalid ADJ bracis-33588 222 19 inputs input NOUN bracis-33588 222 20 , , PUNCT bracis-33588 222 21 thus thus ADV bracis-33588 222 22 guaranteeing guarantee VERB bracis-33588 222 23 that that SCONJ bracis-33588 222 24 all all DET bracis-33588 222 25 generated generate VERB bracis-33588 222 26 plans plan NOUN bracis-33588 222 27 are be AUX bracis-33588 222 28 valid valid ADJ bracis-33588 222 29 . . PUNCT bracis-33588 223 1 this this PRON bracis-33588 223 2 is be AUX bracis-33588 223 3 a a DET bracis-33588 223 4 substantial substantial ADJ bracis-33588 223 5 improvement improvement NOUN bracis-33588 223 6 over over ADP bracis-33588 223 7 traditional traditional ADJ bracis-33588 223 8 approaches approach NOUN bracis-33588 223 9 , , PUNCT bracis-33588 223 10 where where SCONJ bracis-33588 223 11 llms llm NOUN bracis-33588 223 12 frequently frequently ADV bracis-33588 223 13 generate generate VERB bracis-33588 223 14 invalid invalid ADJ bracis-33588 223 15 plans plan NOUN bracis-33588 223 16 . . PUNCT bracis-33588 224 1 we we PRON bracis-33588 224 2 observed observe VERB bracis-33588 224 3 that that SCONJ bracis-33588 224 4 incorporating incorporate VERB bracis-33588 224 5 validation validation NOUN bracis-33588 224 6 encourages encourage VERB bracis-33588 224 7 exploratory exploratory ADJ bracis-33588 224 8 behavior behavior NOUN bracis-33588 224 9 in in ADP bracis-33588 224 10 the the DET bracis-33588 224 11 models model NOUN bracis-33588 224 12 , , PUNCT bracis-33588 224 13 leading lead VERB bracis-33588 224 14 to to ADP bracis-33588 224 15 better well ADJ bracis-33588 224 16 performance performance NOUN bracis-33588 224 17 on on ADP bracis-33588 224 18 complex complex ADJ bracis-33588 224 19 tasks task NOUN bracis-33588 224 20 across across ADP bracis-33588 224 21 all all DET bracis-33588 224 22 three three NUM bracis-33588 224 23 compared compare VERB bracis-33588 224 24 models model NOUN bracis-33588 224 25 . . PUNCT bracis-33588 225 1 conversely conversely ADV bracis-33588 225 2 , , PUNCT bracis-33588 225 3 while while SCONJ bracis-33588 225 4 incorporating incorporate VERB bracis-33588 225 5 restrictions restriction NOUN bracis-33588 225 6 can can AUX bracis-33588 225 7 enhance enhance VERB bracis-33588 225 8 performance performance NOUN bracis-33588 225 9 on on ADP bracis-33588 225 10 simpler simple ADJ bracis-33588 225 11 tasks task NOUN bracis-33588 225 12 , , PUNCT bracis-33588 225 13 it it PRON bracis-33588 225 14 can can AUX bracis-33588 225 15 also also ADV bracis-33588 225 16 cause cause VERB bracis-33588 225 17 the the DET bracis-33588 225 18 models model NOUN bracis-33588 225 19 to to PART bracis-33588 225 20 enter enter VERB bracis-33588 225 21 loops loop NOUN bracis-33588 225 22 , , PUNCT bracis-33588 225 23 resulting result VERB bracis-33588 225 24 in in ADP bracis-33588 225 25 poorer poor ADJ bracis-33588 225 26 performance performance NOUN bracis-33588 225 27 on on ADP bracis-33588 225 28 more more ADJ bracis-33588 225 29 complex complex ADJ bracis-33588 225 30 tasks task NOUN bracis-33588 225 31 . . PUNCT bracis-33588 226 1 a a DET bracis-33588 226 2 significant significant ADJ bracis-33588 226 3 downside downside NOUN bracis-33588 226 4 of of ADP bracis-33588 226 5 interactive interactive ADJ bracis-33588 226 6 approaches approach NOUN bracis-33588 226 7 is be AUX bracis-33588 226 8 their their PRON bracis-33588 226 9 increased increase VERB bracis-33588 226 10 computational computational ADJ bracis-33588 226 11 cost cost NOUN bracis-33588 226 12 . . PUNCT bracis-33588 227 1 results result NOUN bracis-33588 227 2 show show VERB bracis-33588 227 3 that that SCONJ bracis-33588 227 4 the the DET bracis-33588 227 5 number number NOUN bracis-33588 227 6 of of ADP bracis-33588 227 7 tokens token NOUN bracis-33588 227 8 processed process VERB bracis-33588 227 9 in in ADP bracis-33588 227 10 these these DET bracis-33588 227 11 schemes scheme NOUN bracis-33588 227 12 is be AUX bracis-33588 227 13 an an DET bracis-33588 227 14 order order NOUN bracis-33588 227 15 of of ADP bracis-33588 227 16 magnitude magnitude NOUN bracis-33588 227 17 higher high ADJ bracis-33588 227 18 than than ADP bracis-33588 227 19 in in ADP bracis-33588 227 20 preplanned preplanned ADJ bracis-33588 227 21 setups setup NOUN bracis-33588 227 22 , , PUNCT bracis-33588 227 23 underscoring underscore VERB bracis-33588 227 24 the the DET bracis-33588 227 25 necessity necessity NOUN bracis-33588 227 26 of of ADP bracis-33588 227 27 prompt prompt ADJ bracis-33588 227 28 optimization optimization NOUN bracis-33588 227 29 in in ADP bracis-33588 227 30 these these DET bracis-33588 227 31 scenarios scenario NOUN bracis-33588 227 32 . . PUNCT bracis-33588 228 1 despite despite SCONJ bracis-33588 228 2 the the DET bracis-33588 228 3 simplicity simplicity NOUN bracis-33588 228 4 of of ADP bracis-33588 228 5 the the DET bracis-33588 228 6 experimental experimental ADJ bracis-33588 228 7 context context NOUN bracis-33588 228 8 , , PUNCT bracis-33588 228 9 the the DET bracis-33588 228 10 findings finding NOUN bracis-33588 228 11 open open VERB bracis-33588 228 12 up up ADP bracis-33588 228 13 new new ADJ bracis-33588 228 14 avenues avenue NOUN bracis-33588 228 15 for for ADP bracis-33588 228 16 future future ADJ bracis-33588 228 17 research research NOUN bracis-33588 228 18 aimed aim VERB bracis-33588 228 19 at at ADP bracis-33588 228 20 enhancing enhance VERB bracis-33588 228 21 reasoning reasoning NOUN bracis-33588 228 22 capabilities capability NOUN bracis-33588 228 23 using use VERB bracis-33588 228 24 logical logical ADJ bracis-33588 228 25 structures structure NOUN bracis-33588 228 26 that that PRON bracis-33588 228 27 constrain constrain VERB bracis-33588 228 28 the the DET bracis-33588 228 29 action action NOUN bracis-33588 228 30 space space NOUN bracis-33588 228 31 in in ADP bracis-33588 228 32 problem problem NOUN bracis-33588 228 33 - - PUNCT bracis-33588 228 34 solving solving NOUN bracis-33588 228 35 . . PUNCT bracis-33588 229 1 the the DET bracis-33588 229 2 proposed propose VERB bracis-33588 229 3 method method NOUN bracis-33588 229 4 also also ADV bracis-33588 229 5 introduces introduce VERB bracis-33588 229 6 greater great ADJ bracis-33588 229 7 predictability predictability NOUN bracis-33588 229 8 and and CCONJ bracis-33588 229 9 robustness robustness NOUN bracis-33588 229 10 into into ADP bracis-33588 229 11 the the DET bracis-33588 229 12 system system NOUN bracis-33588 229 13 . . PUNCT bracis-33588 230 1 our our PRON bracis-33588 230 2 findings finding NOUN bracis-33588 230 3 suggest suggest VERB bracis-33588 230 4 promising promise VERB bracis-33588 230 5 avenues avenue NOUN bracis-33588 230 6 for for ADP bracis-33588 230 7 future future ADJ bracis-33588 230 8 research research NOUN bracis-33588 230 9 . . PUNCT bracis-33588 231 1 one one NUM bracis-33588 231 2 direction direction NOUN bracis-33588 231 3 involves involve VERB bracis-33588 231 4 developing develop VERB bracis-33588 231 5 approaches approach NOUN bracis-33588 231 6 that that PRON bracis-33588 231 7 can can AUX bracis-33588 231 8 unify unify VERB bracis-33588 231 9 validation validation NOUN bracis-33588 231 10 with with ADP bracis-33588 231 11 feedback feedback NOUN bracis-33588 231 12 and and CCONJ bracis-33588 231 13 restrictions restriction NOUN bracis-33588 231 14 within within ADP bracis-33588 231 15 the the DET bracis-33588 231 16 llm llm NOUN bracis-33588 231 17 ’s ’s PART bracis-33588 231 18 decision decision NOUN bracis-33588 231 19 - - PUNCT bracis-33588 231 20 making make VERB bracis-33588 231 21 process process NOUN bracis-33588 231 22 . . PUNCT bracis-33588 232 1 this this PRON bracis-33588 232 2 could could AUX bracis-33588 232 3 lead lead VERB bracis-33588 232 4 to to ADP bracis-33588 232 5 more more ADV bracis-33588 232 6 reliable reliable ADJ bracis-33588 232 7 and and CCONJ bracis-33588 232 8 robust robust ADJ bracis-33588 232 9 models model NOUN bracis-33588 232 10 capable capable ADJ bracis-33588 232 11 of of ADP bracis-33588 232 12 both both DET bracis-33588 232 13 short short ADJ bracis-33588 232 14 - - PUNCT bracis-33588 232 15 term term NOUN bracis-33588 232 16 and and CCONJ bracis-33588 232 17 long long ADJ bracis-33588 232 18 - - PUNCT bracis-33588 232 19 term term NOUN bracis-33588 232 20 reasoning reasoning NOUN bracis-33588 232 21 . . PUNCT bracis-33588 233 1 references reference NOUN bracis-33588 233 2 besta besta PROPN bracis-33588 233 3 , , PUNCT bracis-33588 233 4 m. m. NOUN bracis-33588 233 5 , , PUNCT bracis-33588 233 6 et et PROPN bracis-33588 233 7 al al PROPN bracis-33588 233 8 . . PROPN bracis-33588 233 9 : : PUNCT bracis-33588 233 10 graph graph NOUN bracis-33588 233 11 of of ADP bracis-33588 233 12 thoughts thought NOUN bracis-33588 233 13 : : PUNCT bracis-33588 233 14 solving solve VERB bracis-33588 233 15 elaborate elaborate ADJ bracis-33588 233 16 problems problem NOUN bracis-33588 233 17 with with ADP bracis-33588 233 18 large large ADJ bracis-33588 233 19 language language NOUN bracis-33588 233 20 models model NOUN bracis-33588 233 21 . . PUNCT bracis-33588 234 1 in in ADP bracis-33588 234 2 : : PUNCT bracis-33588 234 3 proceedings proceeding NOUN bracis-33588 234 4 of of ADP bracis-33588 234 5 the the DET bracis-33588 234 6 aaai aaai PROPN bracis-33588 234 7 conference conference NOUN bracis-33588 234 8 on on ADP bracis-33588 234 9 artificial artificial ADJ bracis-33588 234 10 intelligence intelligence NOUN bracis-33588 234 11 , , PUNCT bracis-33588 234 12 vol vol NOUN bracis-33588 234 13 . . PROPN bracis-33588 235 1 38 38 NUM bracis-33588 235 2 , , PUNCT bracis-33588 235 3 no no INTJ bracis-33588 235 4 . . NOUN bracis-33588 235 5 16 16 NUM bracis-33588 235 6 , , PUNCT bracis-33588 235 7 pp pp ADJ bracis-33588 235 8 . . PUNCT bracis-33588 236 1 17682–17690 17682–17690 NUM bracis-33588 236 2 ( ( PUNCT bracis-33588 236 3 2024 2024 NUM bracis-33588 236 4 ) ) PUNCT bracis-33588 236 5 . . PUNCT bracis-33588 237 1 https://doi.org/10.1609/aaai.v38i16.29720 https://doi.org/10.1609/aaai.v38i16.29720 NOUN bracis-33588 237 2 . . PUNCT bracis-33588 238 1 https://ojs.aaai.org/index.php/aaai/article/view/29720 https://ojs.aaai.org/index.php/aaai/article/view/29720 NUM bracis-33588 238 2 bubeck bubeck NOUN bracis-33588 238 3 , , PUNCT bracis-33588 238 4 s. s. PROPN bracis-33588 238 5 , , PUNCT bracis-33588 238 6 et et PROPN bracis-33588 238 7 al al PROPN bracis-33588 238 8 . . PROPN bracis-33588 238 9 : : PUNCT bracis-33588 238 10 sparks spark VERB bracis-33588 238 11 of of ADP bracis-33588 238 12 artificial artificial ADJ bracis-33588 238 13 general general ADJ bracis-33588 238 14 intelligence intelligence NOUN bracis-33588 238 15 : : PUNCT bracis-33588 238 16 early early ADJ bracis-33588 238 17 experiments experiment NOUN bracis-33588 238 18 with with ADP bracis-33588 238 19 gpt-4 gpt-4 X bracis-33588 238 20 ( ( PUNCT bracis-33588 238 21 2023 2023 NUM bracis-33588 238 22 ) ) PUNCT bracis-33588 238 23 google google NOUN bracis-33588 238 24 scholar scholar NOUN bracis-33588 238 25     SPACE bracis-33588 238 26 chen chen PROPN bracis-33588 238 27 , , PUNCT bracis-33588 238 28 m. m. NOUN bracis-33588 238 29 , , PUNCT bracis-33588 238 30 et et PROPN bracis-33588 238 31 al al PROPN bracis-33588 238 32 . . PROPN bracis-33588 238 33 : : PUNCT bracis-33588 238 34 evaluating evaluate VERB bracis-33588 238 35 large large ADJ bracis-33588 238 36 language language NOUN bracis-33588 238 37 models model NOUN bracis-33588 238 38 trained train VERB bracis-33588 238 39 on on ADP bracis-33588 238 40 code code NOUN bracis-33588 238 41 ( ( PUNCT bracis-33588 238 42 2021 2021 NUM bracis-33588 238 43 ) ) PUNCT bracis-33588 238 44 google google NOUN bracis-33588 238 45 scholar scholar NOUN bracis-33588 238 46     SPACE bracis-33588 238 47 ghallab ghallab NOUN bracis-33588 238 48 , , PUNCT bracis-33588 238 49 m. m. NOUN bracis-33588 238 50 , , PUNCT bracis-33588 238 51 nau nau PROPN bracis-33588 238 52 , , PUNCT bracis-33588 238 53 d. d. PROPN bracis-33588 238 54 , , PUNCT bracis-33588 238 55 traverso traverso PROPN bracis-33588 238 56 , , PUNCT bracis-33588 238 57 p. p. NOUN bracis-33588 238 58 : : PUNCT bracis-33588 238 59 automated automate VERB bracis-33588 238 60 planning planning NOUN bracis-33588 238 61 : : PUNCT bracis-33588 238 62 theory theory NOUN bracis-33588 238 63 and and CCONJ bracis-33588 238 64 practice practice NOUN bracis-33588 238 65 . . PUNCT bracis-33588 239 1 the the DET bracis-33588 239 2 morgan morgan PROPN bracis-33588 239 3 kaufmann kaufmann PROPN bracis-33588 239 4 series series PROPN bracis-33588 239 5 in in ADP bracis-33588 239 6 artificial artificial ADJ bracis-33588 239 7 intelligence intelligence NOUN bracis-33588 239 8 , , PUNCT bracis-33588 239 9 morgan morgan PROPN bracis-33588 239 10 kaufmann kaufmann PROPN bracis-33588 239 11 , , PUNCT bracis-33588 239 12 amsterdam amsterdam PROPN bracis-33588 239 13 ( ( PUNCT bracis-33588 239 14 2004 2004 NUM bracis-33588 239 15 ) ) PUNCT bracis-33588 239 16 . . PUNCT bracis-33588 240 1 http://www.sciencedirect.com/science/book/9781558608566 http://www.sciencedirect.com/science/book/9781558608566 PROPN bracis-33588 240 2 guan guan PROPN bracis-33588 240 3 , , PUNCT bracis-33588 240 4 l. l. PROPN bracis-33588 240 5 , , PUNCT bracis-33588 240 6 valmeekam valmeekam PROPN bracis-33588 240 7 , , PUNCT bracis-33588 240 8 k. k. PROPN bracis-33588 240 9 , , PUNCT bracis-33588 240 10 sreedharan sreedharan ADJ bracis-33588 240 11 , , PUNCT bracis-33588 240 12 s. s. PROPN bracis-33588 240 13 , , PUNCT bracis-33588 240 14 kambhampati kambhampati PROPN bracis-33588 240 15 , , PUNCT bracis-33588 240 16 s. s. PROPN bracis-33588 240 17 : : PUNCT bracis-33588 240 18 leveraging leverage VERB bracis-33588 240 19 pre pre ADJ bracis-33588 240 20 - - ADJ bracis-33588 240 21 trained train VERB bracis-33588 240 22 large large ADJ bracis-33588 240 23 language language NOUN bracis-33588 240 24 models model NOUN bracis-33588 240 25 to to PART bracis-33588 240 26 construct construct VERB bracis-33588 240 27 and and CCONJ bracis-33588 240 28 utilize utilize VERB bracis-33588 240 29 world world NOUN bracis-33588 240 30 models model NOUN bracis-33588 240 31 for for ADP bracis-33588 240 32 model model NOUN bracis-33588 240 33 - - PUNCT bracis-33588 240 34 based base VERB bracis-33588 240 35 task task NOUN bracis-33588 240 36 planning planning NOUN bracis-33588 240 37 . . PUNCT bracis-33588 241 1 in in ADP bracis-33588 241 2 : : PUNCT bracis-33588 241 3 oh oh INTJ bracis-33588 241 4 , , PUNCT bracis-33588 241 5 a. a. NOUN bracis-33588 241 6 , , PUNCT bracis-33588 241 7 naumann naumann NOUN bracis-33588 241 8 , , PUNCT bracis-33588 241 9 t. t. PROPN bracis-33588 241 10 , , PUNCT bracis-33588 241 11 globerson globerson PROPN bracis-33588 241 12 , , PUNCT bracis-33588 241 13 a. a. NOUN bracis-33588 241 14 , , PUNCT bracis-33588 241 15 saenko saenko NOUN bracis-33588 241 16 , , PUNCT bracis-33588 241 17 k. k. PROPN bracis-33588 241 18 , , PUNCT bracis-33588 241 19 hardt hardt PROPN bracis-33588 241 20 , , PUNCT bracis-33588 241 21 m. m. NOUN bracis-33588 241 22 , , PUNCT bracis-33588 241 23 levine levine PROPN bracis-33588 241 24 , , PUNCT bracis-33588 241 25 s. s. PROPN bracis-33588 241 26 ( ( PUNCT bracis-33588 241 27 eds eds PROPN bracis-33588 241 28 . . PUNCT bracis-33588 241 29 ) ) PUNCT bracis-33588 241 30 advances advance NOUN bracis-33588 241 31 in in ADP bracis-33588 241 32 neural neural ADJ bracis-33588 241 33 information information NOUN bracis-33588 241 34 processing processing NOUN bracis-33588 241 35 systems system NOUN bracis-33588 241 36 , , PUNCT bracis-33588 241 37 vol vol NOUN bracis-33588 241 38 . . PUNCT bracis-33588 241 39     SPACE bracis-33588 241 40 36 36 NUM bracis-33588 241 41 , , PUNCT bracis-33588 241 42 pp pp ADJ bracis-33588 241 43 . . PUNCT bracis-33588 242 1 79081–79094 79081–79094 NOUN bracis-33588 242 2 . . PUNCT bracis-33588 243 1 curran curran PROPN bracis-33588 243 2 associates associates PROPN bracis-33588 243 3 , , PUNCT bracis-33588 243 4 inc inc PROPN bracis-33588 243 5 . . PROPN bracis-33588 243 6 ( ( PUNCT bracis-33588 243 7 2023 2023 NUM bracis-33588 243 8 ) ) PUNCT bracis-33588 243 9 google google NOUN bracis-33588 243 10 scholar scholar NOUN bracis-33588 243 11     SPACE bracis-33588 243 12 helmert helmert NOUN bracis-33588 243 13 , , PUNCT bracis-33588 243 14 m. m. NOUN bracis-33588 243 15 : : PUNCT bracis-33588 243 16 the the DET bracis-33588 243 17 fast fast ADJ bracis-33588 243 18 downward downward ADJ bracis-33588 243 19 planning planning NOUN bracis-33588 243 20 system system NOUN bracis-33588 243 21 . . PUNCT bracis-33588 244 1 j. j. PROPN bracis-33588 244 2 artif artif PROPN bracis-33588 244 3 . . PUNCT bracis-33588 245 1 intell intell PROPN bracis-33588 245 2 . . PUNCT bracis-33588 246 1 res re NOUN bracis-33588 246 2 . . PROPN bracis-33588 247 1 26 26 NUM bracis-33588 247 2 , , PUNCT bracis-33588 247 3 191–246 191–246 NUM bracis-33588 247 4 ( ( PUNCT bracis-33588 247 5 2006 2006 NUM bracis-33588 247 6 ) ) PUNCT bracis-33588 247 7 . . PUNCT bracis-33588 248 1 https://doi.org/10.1613/jair.1705 https://doi.org/10.1613/jair.1705 PROPN bracis-33588 248 2 article article PROPN bracis-33588 248 3     SPACE bracis-33588 248 4 math math NOUN bracis-33588 248 5     SPACE bracis-33588 248 6 google google PROPN bracis-33588 248 7 scholar scholar NOUN bracis-33588 248 8     SPACE bracis-33588 248 9 hoffmann hoffmann PROPN bracis-33588 248 10 , , PUNCT bracis-33588 248 11 j. j. PROPN bracis-33588 248 12 : : PUNCT bracis-33588 248 13 ff ff NUM bracis-33588 248 14 : : PUNCT bracis-33588 248 15 the the DET bracis-33588 248 16 fast fast ADJ bracis-33588 248 17 - - PUNCT bracis-33588 248 18 forward forward NOUN bracis-33588 248 19 planning planning NOUN bracis-33588 248 20 system system NOUN bracis-33588 248 21 . . PUNCT bracis-33588 249 1 ai ai VERB bracis-33588 249 2 mag mag ADJ bracis-33588 249 3 . . PUNCT bracis-33588 250 1 22(3 22(3 NUM bracis-33588 250 2 ) ) PUNCT bracis-33588 250 3 , , PUNCT bracis-33588 250 4 57 57 NUM bracis-33588 250 5 ( ( PUNCT bracis-33588 250 6 2001 2001 NUM bracis-33588 250 7 ) ) PUNCT bracis-33588 250 8 . . PUNCT bracis-33588 251 1 https://doi.org/10.1609/aimag.v22i3.1572 https://doi.org/10.1609/aimag.v22i3.1572 PUNCT bracis-33588 251 2 . . PUNCT bracis-33588 252 1 https://ojs.aaai.org/aimagazine/index.php/aimagazine/article/view/1572 https://ojs.aaai.org/aimagazine/index.php/aimagazine/article/view/1572 PROPN bracis-33588 252 2 jiménez jiménez PROPN bracis-33588 252 3 , , PUNCT bracis-33588 252 4 s. s. PROPN bracis-33588 252 5 , , PUNCT bracis-33588 252 6 de de PROPN bracis-33588 252 7 la la PROPN bracis-33588 252 8 rosa rosa PROPN bracis-33588 252 9 , , PUNCT bracis-33588 252 10 t. t. PROPN bracis-33588 252 11 , , PUNCT bracis-33588 252 12 fernández fernández PROPN bracis-33588 252 13 , , PUNCT bracis-33588 252 14 s. s. PROPN bracis-33588 252 15 , , PUNCT bracis-33588 252 16 fernández fernández PROPN bracis-33588 252 17 , , PUNCT bracis-33588 252 18 f. f. PROPN bracis-33588 252 19 , , PUNCT bracis-33588 252 20 borrajo borrajo ADV bracis-33588 252 21 , , PUNCT bracis-33588 252 22 d. d. PROPN bracis-33588 252 23 : : PUNCT bracis-33588 252 24 a a DET bracis-33588 252 25 review review NOUN bracis-33588 252 26 of of ADP bracis-33588 252 27 machine machine NOUN bracis-33588 252 28 learning learn VERB bracis-33588 252 29 for for ADP bracis-33588 252 30 automated automate VERB bracis-33588 252 31 planning planning NOUN bracis-33588 252 32 . . PUNCT bracis-33588 253 1 knowl knowl PROPN bracis-33588 253 2 . . PUNCT bracis-33588 254 1 eng eng PROPN bracis-33588 254 2 . . PROPN bracis-33588 254 3 rev rev PROPN bracis-33588 254 4 . . PROPN bracis-33588 254 5 27(4 27(4 PROPN bracis-33588 254 6 ) ) PUNCT bracis-33588 254 7 , , PUNCT bracis-33588 254 8 433–467 433–467 NUM bracis-33588 254 9 ( ( PUNCT bracis-33588 254 10 2012 2012 NUM bracis-33588 254 11 ) ) PUNCT bracis-33588 254 12 . . PUNCT bracis-33588 255 1 https://doi.org/10.1017/s026988891200001x https://doi.org/10.1017/s026988891200001x PROPN bracis-33588 255 2 article article PROPN bracis-33588 255 3     SPACE bracis-33588 255 4 math math NOUN bracis-33588 255 5     SPACE bracis-33588 255 6 google google PROPN bracis-33588 255 7 scholar scholar NOUN bracis-33588 255 8     SPACE bracis-33588 255 9 jin jin NOUN bracis-33588 255 10 , , PUNCT bracis-33588 255 11 z. z. PROPN bracis-33588 255 12 , , PUNCT bracis-33588 255 13 et et PROPN bracis-33588 255 14 al al PROPN bracis-33588 255 15 . . PUNCT bracis-33588 255 16 : : PUNCT bracis-33588 256 1 cladder cladder NOUN bracis-33588 256 2 : : PUNCT bracis-33588 256 3 a a DET bracis-33588 256 4 benchmark benchmark NOUN bracis-33588 256 5 to to PART bracis-33588 256 6 assess assess VERB bracis-33588 256 7 causal causal ADJ bracis-33588 256 8 reasoning reasoning NOUN bracis-33588 256 9 capabilities capability NOUN bracis-33588 256 10 of of ADP bracis-33588 256 11 language language NOUN bracis-33588 256 12 models model NOUN bracis-33588 256 13 ( ( PUNCT bracis-33588 256 14 2023 2023 NUM bracis-33588 256 15 ) ) PUNCT bracis-33588 256 16 google google NOUN bracis-33588 256 17 scholar scholar NOUN bracis-33588 256 18     SPACE bracis-33588 256 19 raman raman NOUN bracis-33588 256 20 , , PUNCT bracis-33588 256 21 s.s s.s PROPN bracis-33588 256 22 . . PROPN bracis-33588 256 23 , , PUNCT bracis-33588 256 24 cohen cohen PROPN bracis-33588 256 25 , , PUNCT bracis-33588 256 26 v. v. PROPN bracis-33588 256 27 , , PUNCT bracis-33588 256 28 rosen rosen PROPN bracis-33588 256 29 , , PUNCT bracis-33588 256 30 e. e. PROPN bracis-33588 256 31 , , PUNCT bracis-33588 256 32 idrees idree NOUN bracis-33588 256 33 , , PUNCT bracis-33588 256 34 i. i. NOUN bracis-33588 256 35 , , PUNCT bracis-33588 256 36 paulius paulius PROPN bracis-33588 256 37 , , PUNCT bracis-33588 256 38 d. d. PROPN bracis-33588 256 39 , , PUNCT bracis-33588 256 40 tellex tellex PROPN bracis-33588 256 41 , , PUNCT bracis-33588 256 42 s. s. PROPN bracis-33588 256 43 : : PUNCT bracis-33588 256 44 planning plan VERB bracis-33588 256 45 with with ADP bracis-33588 256 46 large large ADJ bracis-33588 256 47 language language NOUN bracis-33588 256 48 models model NOUN bracis-33588 256 49 via via ADP bracis-33588 256 50 corrective corrective ADJ bracis-33588 256 51 re re NOUN bracis-33588 256 52 - - ADJ bracis-33588 256 53 prompting prompting ADJ bracis-33588 256 54 . . PUNCT bracis-33588 257 1 in in ADP bracis-33588 257 2 : : PUNCT bracis-33588 257 3 neurips neurips PROPN bracis-33588 257 4 2022 2022 NUM bracis-33588 257 5 foundation foundation NOUN bracis-33588 257 6 models model NOUN bracis-33588 257 7 for for ADP bracis-33588 257 8 decision decision NOUN bracis-33588 257 9 making make VERB bracis-33588 257 10 workshop workshop NOUN bracis-33588 257 11 ( ( PUNCT bracis-33588 257 12 2022 2022 NUM bracis-33588 257 13 ) ) PUNCT bracis-33588 257 14 . . PUNCT bracis-33588 258 1 https://openreview.net/forum?id=cmdmrbe1tks https://openreview.net/forum?id=cmdmrbe1tks PROPN bracis-33588 258 2 russell russell PROPN bracis-33588 258 3 , , PUNCT bracis-33588 258 4 s. s. PROPN bracis-33588 258 5 , , PUNCT bracis-33588 258 6 norvig norvig NOUN bracis-33588 258 7 , , PUNCT bracis-33588 258 8 p. p. NOUN bracis-33588 258 9 : : PUNCT bracis-33588 258 10 artificial artificial ADJ bracis-33588 258 11 intelligence intelligence NOUN bracis-33588 258 12 : : PUNCT bracis-33588 258 13 a a DET bracis-33588 258 14 modern modern ADJ bracis-33588 258 15 approach approach NOUN bracis-33588 258 16 , , PUNCT bracis-33588 258 17 3 3 NUM bracis-33588 258 18 edn edn NOUN bracis-33588 258 19 . . PUNCT bracis-33588 259 1 prentice prentice PROPN bracis-33588 259 2 hall hall PROPN bracis-33588 259 3 ( ( PUNCT bracis-33588 259 4 2010 2010 NUM bracis-33588 259 5 ) ) PUNCT bracis-33588 259 6 google google PROPN bracis-33588 259 7 scholar scholar NOUN bracis-33588 259 8     SPACE bracis-33588 259 9 stechly stechly ADV bracis-33588 259 10 , , PUNCT bracis-33588 259 11 k. k. PROPN bracis-33588 259 12 , , PUNCT bracis-33588 259 13 marquez marquez PROPN bracis-33588 259 14 , , PUNCT bracis-33588 259 15 m. m. NOUN bracis-33588 259 16 , , PUNCT bracis-33588 259 17 kambhampati kambhampati PROPN bracis-33588 259 18 , , PUNCT bracis-33588 259 19 s. s. PROPN bracis-33588 259 20 : : PUNCT bracis-33588 259 21 gpt-4 gpt-4 PRON bracis-33588 259 22 does do AUX bracis-33588 259 23 n’t not PART bracis-33588 259 24 know know VERB bracis-33588 259 25 it it PRON bracis-33588 259 26 ’s ’ VERB bracis-33588 259 27 wrong wrong ADJ bracis-33588 259 28 : : PUNCT bracis-33588 259 29 an an DET bracis-33588 259 30 analysis analysis NOUN bracis-33588 259 31 of of ADP bracis-33588 259 32 iterative iterative NOUN bracis-33588 259 33 prompting prompt VERB bracis-33588 259 34 for for ADP bracis-33588 259 35 reasoning reasoning NOUN bracis-33588 259 36 problems problem NOUN bracis-33588 259 37 . . PUNCT bracis-33588 260 1 in in ADP bracis-33588 260 2 : : PUNCT bracis-33588 260 3 neurips neurips PROPN bracis-33588 260 4 2023 2023 NUM bracis-33588 260 5 foundation foundation NOUN bracis-33588 260 6 models model NOUN bracis-33588 260 7 for for ADP bracis-33588 260 8 decision decision NOUN bracis-33588 260 9 making make VERB bracis-33588 260 10 workshop workshop NOUN bracis-33588 260 11 ( ( PUNCT bracis-33588 260 12 2023 2023 NUM bracis-33588 260 13 ) ) PUNCT bracis-33588 260 14 . . PUNCT bracis-33588 261 1 https://openreview.net/forum?id=pmtzjdyb68 https://openreview.net/forum?id=pmtzjdyb68 PROPN bracis-33588 261 2 suzgun suzgun PROPN bracis-33588 261 3 , , PUNCT bracis-33588 261 4 m. m. NOUN bracis-33588 261 5 , , PUNCT bracis-33588 261 6 et et PROPN bracis-33588 261 7 al al PROPN bracis-33588 261 8 . . PROPN bracis-33588 261 9 : : PUNCT bracis-33588 262 1 challenging challenge VERB bracis-33588 262 2 big big ADJ bracis-33588 262 3 - - PUNCT bracis-33588 262 4 bench bench NOUN bracis-33588 262 5 tasks task NOUN bracis-33588 262 6 and and CCONJ bracis-33588 262 7 whether whether SCONJ bracis-33588 262 8 chain chain NOUN bracis-33588 262 9 - - PUNCT bracis-33588 262 10 of of ADP bracis-33588 262 11 - - PUNCT bracis-33588 262 12 thought thought NOUN bracis-33588 262 13 can can AUX bracis-33588 262 14 solve solve VERB bracis-33588 262 15 them they PRON bracis-33588 262 16 ( ( PUNCT bracis-33588 262 17 2022 2022 NUM bracis-33588 262 18 ) ) PUNCT bracis-33588 262 19 google google NOUN bracis-33588 262 20 scholar scholar NOUN bracis-33588 262 21     SPACE bracis-33588 262 22 valmeekam valmeekam NOUN bracis-33588 262 23 , , PUNCT bracis-33588 262 24 k. k. PROPN bracis-33588 262 25 , , PUNCT bracis-33588 262 26 marquez marquez PROPN bracis-33588 262 27 , , PUNCT bracis-33588 262 28 m. m. NOUN bracis-33588 262 29 , , PUNCT bracis-33588 262 30 olmo olmo PROPN bracis-33588 262 31 , , PUNCT bracis-33588 262 32 a. a. NOUN bracis-33588 262 33 , , PUNCT bracis-33588 262 34 sreedharan sreedharan ADJ bracis-33588 262 35 , , PUNCT bracis-33588 262 36 s. s. PROPN bracis-33588 262 37 , , PUNCT bracis-33588 262 38 kambhampati kambhampati PROPN bracis-33588 262 39 , , PUNCT bracis-33588 262 40 s. s. PROPN bracis-33588 262 41 : : PUNCT bracis-33588 262 42 planbench planbench VERB bracis-33588 262 43 : : PUNCT bracis-33588 262 44 an an DET bracis-33588 262 45 extensible extensible ADJ bracis-33588 262 46 benchmark benchmark NOUN bracis-33588 262 47 for for ADP bracis-33588 262 48 evaluating evaluate VERB bracis-33588 262 49 large large ADJ bracis-33588 262 50 language language NOUN bracis-33588 262 51 models model NOUN bracis-33588 262 52 on on ADP bracis-33588 262 53 planning planning NOUN bracis-33588 262 54 and and CCONJ bracis-33588 262 55 reasoning reasoning NOUN bracis-33588 262 56 about about ADP bracis-33588 262 57 change change NOUN bracis-33588 262 58 . . PUNCT bracis-33588 263 1 in in ADP bracis-33588 263 2 : : PUNCT bracis-33588 263 3 thirty thirty NUM bracis-33588 263 4 - - PUNCT bracis-33588 263 5 seventh seventh ADJ bracis-33588 263 6 conference conference NOUN bracis-33588 263 7 on on ADP bracis-33588 263 8 neural neural ADJ bracis-33588 263 9 information information NOUN bracis-33588 263 10 processing processing NOUN bracis-33588 263 11 systems system NOUN bracis-33588 263 12 datasets dataset NOUN bracis-33588 263 13 and and CCONJ bracis-33588 263 14 benchmarks benchmark NOUN bracis-33588 263 15 track track NOUN bracis-33588 263 16 ( ( PUNCT bracis-33588 263 17 2023 2023 NUM bracis-33588 263 18 ) ) PUNCT bracis-33588 263 19 . . PUNCT bracis-33588 264 1 https://openreview.net/forum?id=yxogl4uquo https://openreview.net/forum?id=yxogl4uquo PROPN bracis-33588 264 2 valmeekam valmeekam NOUN bracis-33588 264 3 , , PUNCT bracis-33588 264 4 k. k. PROPN bracis-33588 264 5 , , PUNCT bracis-33588 264 6 marquez marquez PROPN bracis-33588 264 7 , , PUNCT bracis-33588 264 8 m. m. NOUN bracis-33588 264 9 , , PUNCT bracis-33588 264 10 sreedharan sreedharan ADJ bracis-33588 264 11 , , PUNCT bracis-33588 264 12 s. s. PROPN bracis-33588 264 13 , , PUNCT bracis-33588 264 14 kambhampati kambhampati PROPN bracis-33588 264 15 , , PUNCT bracis-33588 264 16 s. s. PROPN bracis-33588 264 17 : : PUNCT bracis-33588 264 18 on on ADP bracis-33588 264 19 the the DET bracis-33588 264 20 planning planning NOUN bracis-33588 264 21 abilities ability NOUN bracis-33588 264 22 of of ADP bracis-33588 264 23 large large ADJ bracis-33588 264 24 language language NOUN bracis-33588 264 25 models model NOUN bracis-33588 264 26 a a DET bracis-33588 264 27 critical critical ADJ bracis-33588 264 28 investigation investigation NOUN bracis-33588 264 29 . . PUNCT bracis-33588 265 1 in in ADP bracis-33588 265 2 : : PUNCT bracis-33588 265 3 thirty thirty NUM bracis-33588 265 4 - - PUNCT bracis-33588 265 5 seventh seventh ADJ bracis-33588 265 6 conference conference NOUN bracis-33588 265 7 on on ADP bracis-33588 265 8 neural neural ADJ bracis-33588 265 9 information information NOUN bracis-33588 265 10 processing processing NOUN bracis-33588 265 11 systems system NOUN bracis-33588 265 12 ( ( PUNCT bracis-33588 265 13 2023 2023 NUM bracis-33588 265 14 ) ) PUNCT bracis-33588 265 15 . . PUNCT bracis-33588 266 1 https://openreview.net/forum?id=x6deqxisew https://openreview.net/forum?id=x6deqxisew ADJ bracis-33588 266 2 vaswani vaswani NOUN bracis-33588 266 3 , , PUNCT bracis-33588 266 4 a. a. NOUN bracis-33588 266 5 , , PUNCT bracis-33588 266 6 et et PROPN bracis-33588 266 7 al al PROPN bracis-33588 266 8 . . PUNCT bracis-33588 266 9 : : PUNCT bracis-33588 267 1 attention attention NOUN bracis-33588 267 2 is be AUX bracis-33588 267 3 all all PRON bracis-33588 267 4 you you PRON bracis-33588 267 5 need need VERB bracis-33588 267 6 . . PUNCT bracis-33588 268 1 in in ADP bracis-33588 268 2 : : PUNCT bracis-33588 268 3 guyon guyon NOUN bracis-33588 268 4 , , PUNCT bracis-33588 268 5 i. i. PROPN bracis-33588 268 6 , , PUNCT bracis-33588 268 7 et et PROPN bracis-33588 268 8 al al PROPN bracis-33588 268 9 . . PUNCT bracis-33588 268 10 ( ( PUNCT bracis-33588 268 11 eds ed NOUN bracis-33588 268 12 . . PUNCT bracis-33588 268 13 ) ) PUNCT bracis-33588 268 14 advances advance NOUN bracis-33588 268 15 in in ADP bracis-33588 268 16 neural neural ADJ bracis-33588 268 17 information information NOUN bracis-33588 268 18 processing processing NOUN bracis-33588 268 19 systems system NOUN bracis-33588 268 20 , , PUNCT bracis-33588 268 21 vol vol NOUN bracis-33588 268 22 . . PUNCT bracis-33588 268 23     SPACE bracis-33588 268 24 30 30 NUM bracis-33588 268 25 . . PUNCT bracis-33588 269 1 curran curran PROPN bracis-33588 269 2 associates associates PROPN bracis-33588 269 3 , , PUNCT bracis-33588 269 4 inc inc PROPN bracis-33588 269 5 . . PROPN bracis-33588 269 6 ( ( PUNCT bracis-33588 269 7 2017 2017 NUM bracis-33588 269 8 ) ) PUNCT bracis-33588 269 9 google google PROPN bracis-33588 269 10 scholar scholar NOUN bracis-33588 269 11     SPACE bracis-33588 269 12 wang wang PROPN bracis-33588 269 13 , , PUNCT bracis-33588 269 14 x. x. PROPN bracis-33588 269 15 , , PUNCT bracis-33588 269 16 wei wei PROPN bracis-33588 269 17 , , PUNCT bracis-33588 269 18 j. j. PROPN bracis-33588 269 19 , , PUNCT bracis-33588 269 20 schuurmans schuurmans PROPN bracis-33588 269 21 , , PUNCT bracis-33588 269 22 d. d. PROPN bracis-33588 269 23 , , PUNCT bracis-33588 269 24 le le X bracis-33588 269 25 , , PUNCT bracis-33588 269 26 q.v q.v PROPN bracis-33588 269 27 . . PROPN bracis-33588 269 28 : : PUNCT bracis-33588 270 1 h. h. PROPN bracis-33588 270 2 chi chi PROPN bracis-33588 270 3 , , PUNCT bracis-33588 270 4 sharan sharan PROPN bracis-33588 270 5 narang narang PROPN bracis-33588 270 6 , , PUNCT bracis-33588 270 7 aakanksha aakanksha PROPN bracis-33588 270 8 chowdhery chowdhery NOUN bracis-33588 270 9 , , PUNCT bracis-33588 270 10 and and CCONJ bracis-33588 270 11 denny denny PROPN bracis-33588 270 12 zhou zhou PROPN bracis-33588 270 13 . . PUNCT bracis-33588 270 14 self self NOUN bracis-33588 270 15 - - PUNCT bracis-33588 270 16 consistency consistency NOUN bracis-33588 270 17 improves improve VERB bracis-33588 270 18 chain chain NOUN bracis-33588 270 19 of of ADP bracis-33588 270 20 thought thought ADJ bracis-33588 270 21 reasoning reasoning NOUN bracis-33588 270 22 in in ADP bracis-33588 270 23 language language NOUN bracis-33588 270 24 models model NOUN bracis-33588 270 25 . . PUNCT bracis-33588 271 1 in in ADP bracis-33588 271 2 : : PUNCT bracis-33588 271 3 the the DET bracis-33588 271 4 eleventh eleventh ADJ bracis-33588 271 5 international international ADJ bracis-33588 271 6 conference conference NOUN bracis-33588 271 7 on on ADP bracis-33588 271 8 learning learn VERB bracis-33588 271 9 representations representation NOUN bracis-33588 271 10 , , PUNCT bracis-33588 271 11 vol vol NOUN bracis-33588 271 12 . . PUNCT bracis-33588 271 13     SPACE bracis-33588 271 14 1 1 NUM bracis-33588 271 15 ( ( PUNCT bracis-33588 271 16 2023 2023 NUM bracis-33588 271 17 ) ) PUNCT bracis-33588 271 18 google google PROPN bracis-33588 271 19 scholar scholar NOUN bracis-33588 271 20     SPACE bracis-33588 271 21 wei wei PROPN bracis-33588 271 22 , , PUNCT bracis-33588 271 23 j. j. PROPN bracis-33588 271 24 , , PUNCT bracis-33588 271 25 et et PROPN bracis-33588 271 26 al al PROPN bracis-33588 271 27 . . PUNCT bracis-33588 271 28 : : PUNCT bracis-33588 272 1 h. h. PROPN bracis-33588 272 2 chi chi PROPN bracis-33588 272 3 , , PUNCT bracis-33588 272 4 tatsunori tatsunori NOUN bracis-33588 272 5 hashimoto hashimoto NOUN bracis-33588 272 6 , , PUNCT bracis-33588 272 7 oriol oriol PROPN bracis-33588 272 8 vinyals vinyals PROPN bracis-33588 272 9 , , PUNCT bracis-33588 272 10 percy percy PROPN bracis-33588 272 11 liang liang PROPN bracis-33588 272 12 , , PUNCT bracis-33588 272 13 jeff jeff PROPN bracis-33588 272 14 dean dean PROPN bracis-33588 272 15 , , PUNCT bracis-33588 272 16 and and CCONJ bracis-33588 272 17 william william PROPN bracis-33588 272 18 fedus fedus PROPN bracis-33588 272 19 . . PUNCT bracis-33588 272 20 emergent emergent ADJ bracis-33588 272 21 abilities ability NOUN bracis-33588 272 22 of of ADP bracis-33588 272 23 large large ADJ bracis-33588 272 24 language language NOUN bracis-33588 272 25 models model NOUN bracis-33588 272 26 . . PUNCT bracis-33588 273 1 trans trans PROPN bracis-33588 273 2 . . PUNCT bracis-33588 274 1 mach mach PROPN bracis-33588 274 2 . . PUNCT bracis-33588 275 1 learn learn VERB bracis-33588 275 2 . . PUNCT bracis-33588 276 1 res re NOUN bracis-33588 276 2 . . PUNCT bracis-33588 277 1 2022 2022 NUM bracis-33588 277 2 ( ( PUNCT bracis-33588 277 3 2022 2022 NUM bracis-33588 277 4 ) ) PUNCT bracis-33588 277 5 google google PROPN bracis-33588 277 6 scholar scholar NOUN bracis-33588 277 7     SPACE bracis-33588 277 8 wei wei PROPN bracis-33588 277 9 , , PUNCT bracis-33588 277 10 j. j. PROPN bracis-33588 277 11 , , PUNCT bracis-33588 277 12 et et PROPN bracis-33588 277 13 al al PROPN bracis-33588 277 14 . . PROPN bracis-33588 277 15 : : PUNCT bracis-33588 278 1 chain chain NOUN bracis-33588 278 2 - - PUNCT bracis-33588 278 3 of of ADP bracis-33588 278 4 - - PUNCT bracis-33588 278 5 thought thought NOUN bracis-33588 278 6 prompting prompt VERB bracis-33588 278 7 elicits elicit NOUN bracis-33588 278 8 reasoning reasoning NOUN bracis-33588 278 9 in in ADP bracis-33588 278 10 large large ADJ bracis-33588 278 11 language language NOUN bracis-33588 278 12 models model NOUN bracis-33588 278 13 . . PUNCT bracis-33588 279 1 in in ADP bracis-33588 279 2 : : PUNCT bracis-33588 279 3 koyejo koyejo NOUN bracis-33588 279 4 , , PUNCT bracis-33588 279 5 s. s. PROPN bracis-33588 279 6 , , PUNCT bracis-33588 279 7 mohamed mohamed PROPN bracis-33588 279 8 , , PUNCT bracis-33588 279 9 s. s. PROPN bracis-33588 279 10 , , PUNCT bracis-33588 279 11 agarwal agarwal PROPN bracis-33588 279 12 , , PUNCT bracis-33588 279 13 a. a. PROPN bracis-33588 279 14 , , PUNCT bracis-33588 279 15 belgrave belgrave PROPN bracis-33588 279 16 , , PUNCT bracis-33588 279 17 d. d. PROPN bracis-33588 279 18 , , PUNCT bracis-33588 279 19 cho cho PROPN bracis-33588 279 20 , , PUNCT bracis-33588 279 21 k. k. PROPN bracis-33588 279 22 , , PUNCT bracis-33588 279 23 oh oh INTJ bracis-33588 279 24 , , PUNCT bracis-33588 279 25 a. a. NOUN bracis-33588 279 26 ( ( PUNCT bracis-33588 279 27 eds eds PROPN bracis-33588 279 28 . . PUNCT bracis-33588 279 29 ) ) PUNCT bracis-33588 279 30 advances advance NOUN bracis-33588 279 31 in in ADP bracis-33588 279 32 neural neural ADJ bracis-33588 279 33 information information NOUN bracis-33588 279 34 processing processing NOUN bracis-33588 279 35 systems system NOUN bracis-33588 279 36 , , PUNCT bracis-33588 279 37 vol vol NOUN bracis-33588 279 38 . . PUNCT bracis-33588 279 39     SPACE bracis-33588 279 40 35 35 NUM bracis-33588 279 41 , , PUNCT bracis-33588 279 42 pp pp ADJ bracis-33588 279 43 . . PUNCT bracis-33588 280 1 24824–24837 24824–24837 NUM bracis-33588 280 2 . . PUNCT bracis-33588 281 1 curran curran PROPN bracis-33588 281 2 associates associates PROPN bracis-33588 281 3 , , PUNCT bracis-33588 281 4 inc inc PROPN bracis-33588 281 5 . . PROPN bracis-33588 281 6 ( ( PUNCT bracis-33588 281 7 2022 2022 NUM bracis-33588 281 8 ) ) PUNCT bracis-33588 281 9 google google PROPN bracis-33588 281 10 scholar scholar NOUN bracis-33588 281 11     SPACE bracis-33588 281 12 yao yao NOUN bracis-33588 281 13 , , PUNCT bracis-33588 281 14 s. s. PROPN bracis-33588 281 15 , , PUNCT bracis-33588 281 16 et et PROPN bracis-33588 281 17 al al PROPN bracis-33588 281 18 . . PUNCT bracis-33588 281 19 : : PUNCT bracis-33588 281 20 tree tree NOUN bracis-33588 281 21 of of ADP bracis-33588 281 22 thoughts thought NOUN bracis-33588 281 23 : : PUNCT bracis-33588 281 24 deliberate deliberate VERB bracis-33588 281 25 problem problem NOUN bracis-33588 281 26 solving solve VERB bracis-33588 281 27 with with ADP bracis-33588 281 28 large large ADJ bracis-33588 281 29 language language NOUN bracis-33588 281 30 models model NOUN bracis-33588 281 31 . . PUNCT bracis-33588 282 1 in in ADP bracis-33588 282 2 : : PUNCT bracis-33588 282 3 oh oh INTJ bracis-33588 282 4 , , PUNCT bracis-33588 282 5 a. a. NOUN bracis-33588 282 6 , , PUNCT bracis-33588 282 7 naumann naumann NOUN bracis-33588 282 8 , , PUNCT bracis-33588 282 9 t. t. PROPN bracis-33588 282 10 , , PUNCT bracis-33588 282 11 globerson globerson PROPN bracis-33588 282 12 , , PUNCT bracis-33588 282 13 a. a. NOUN bracis-33588 282 14 , , PUNCT bracis-33588 282 15 saenko saenko NOUN bracis-33588 282 16 , , PUNCT bracis-33588 282 17 k. k. PROPN bracis-33588 282 18 , , PUNCT bracis-33588 282 19 hardt hardt PROPN bracis-33588 282 20 , , PUNCT bracis-33588 282 21 m. m. NOUN bracis-33588 282 22 , , PUNCT bracis-33588 282 23 levine levine PROPN bracis-33588 282 24 , , PUNCT bracis-33588 282 25 s. s. PROPN bracis-33588 282 26 ( ( PUNCT bracis-33588 282 27 eds eds PROPN bracis-33588 282 28 . . PUNCT bracis-33588 282 29 ) ) PUNCT bracis-33588 282 30 advances advance NOUN bracis-33588 282 31 in in ADP bracis-33588 282 32 neural neural ADJ bracis-33588 282 33 information information NOUN bracis-33588 282 34 processing processing NOUN bracis-33588 282 35 systems system NOUN bracis-33588 282 36 , , PUNCT bracis-33588 282 37 vol vol NOUN bracis-33588 282 38 . . PUNCT bracis-33588 282 39     SPACE bracis-33588 282 40 36 36 NUM bracis-33588 282 41 , , PUNCT bracis-33588 282 42 pp pp ADJ bracis-33588 282 43 . . PUNCT bracis-33588 283 1 11809–11822 11809–11822 NUM bracis-33588 283 2 . . PUNCT bracis-33588 284 1 curran curran PROPN bracis-33588 284 2 associates associates PROPN bracis-33588 284 3 , , PUNCT bracis-33588 284 4 inc inc PROPN bracis-33588 284 5 . . PROPN bracis-33588 284 6 ( ( PUNCT bracis-33588 284 7 2023 2023 NUM bracis-33588 284 8 ) ) PUNCT bracis-33588 284 9 google google NOUN bracis-33588 284 10 scholar scholar NOUN bracis-33588 284 11     SPACE bracis-33588 284 12 download download NOUN bracis-33588 284 13 references reference NOUN bracis-33588 284 14 author author NOUN bracis-33588 284 15 information information NOUN bracis-33588 284 16 authors author NOUN bracis-33588 284 17 and and CCONJ bracis-33588 284 18 affiliations affiliation NOUN bracis-33588 284 19 universidade universidade PROPN bracis-33588 284 20 de de PROPN bracis-33588 284 21 são são PROPN bracis-33588 284 22 paulo paulo PROPN bracis-33588 284 23 , , PUNCT bracis-33588 284 24 são são PROPN bracis-33588 284 25 paulo paulo PROPN bracis-33588 284 26 , , PUNCT bracis-33588 284 27 sp sp PROPN bracis-33588 284 28 , , PUNCT bracis-33588 284 29 brazil brazil PROPN bracis-33588 284 30 eduardo eduardo PROPN bracis-33588 284 31 faria faria PROPN bracis-33588 284 32 cabrera cabrera PROPN bracis-33588 284 33 , , PUNCT bracis-33588 284 34     SPACE bracis-33588 284 35 marcel marcel PROPN bracis-33588 284 36 rodrigues rodrigues PROPN bracis-33588 284 37 de de PROPN bracis-33588 284 38 barros barros PROPN bracis-33588 284 39     SPACE bracis-33588 284 40 & & CCONJ bracis-33588 284 41     SPACE bracis-33588 284 42 anna anna PROPN bracis-33588 284 43 helena helena PROPN bracis-33588 284 44 reali reali PROPN bracis-33588 284 45 costa costa PROPN bracis-33588 284 46 authors author NOUN bracis-33588 284 47 eduardo eduardo PROPN bracis-33588 284 48 faria faria PROPN bracis-33588 284 49 cabreraview cabreraview PROPN bracis-33588 284 50 author author NOUN bracis-33588 284 51 publications publication NOUN bracis-33588 284 52 search search NOUN bracis-33588 284 53 author author NOUN bracis-33588 284 54 on on ADP bracis-33588 284 55 : : PUNCT bracis-33588 284 56 pubmed pubmed PROPN bracis-33588 284 57     SPACE bracis-33588 284 58 google google PROPN bracis-33588 284 59 scholar scholar PROPN bracis-33588 284 60 marcel marcel PROPN bracis-33588 284 61 rodrigues rodrigues PROPN bracis-33588 284 62 de de PROPN bracis-33588 284 63 barrosview barrosview PROPN bracis-33588 284 64 author author NOUN bracis-33588 284 65 publications publication NOUN bracis-33588 284 66 search search NOUN bracis-33588 284 67 author author NOUN bracis-33588 284 68 on on ADP bracis-33588 284 69 : : PUNCT bracis-33588 284 70 pubmed pubmed PROPN bracis-33588 284 71     SPACE bracis-33588 284 72 google google PROPN bracis-33588 284 73 scholar scholar PROPN bracis-33588 284 74 anna anna PROPN bracis-33588 284 75 helena helena PROPN bracis-33588 284 76 reali reali PROPN bracis-33588 284 77 costaview costaview PROPN bracis-33588 284 78 author author NOUN bracis-33588 284 79 publications publication NOUN bracis-33588 284 80 search search NOUN bracis-33588 284 81 author author NOUN bracis-33588 284 82 on on ADP bracis-33588 284 83 : : PUNCT bracis-33588 284 84 pubmed pubmed PROPN bracis-33588 284 85     SPACE bracis-33588 284 86 google google PROPN bracis-33588 284 87 scholar scholar NOUN bracis-33588 284 88 corresponding correspond VERB bracis-33588 284 89 author author NOUN bracis-33588 284 90 correspondence correspondence NOUN bracis-33588 284 91 to to ADP bracis-33588 284 92 eduardo eduardo PROPN bracis-33588 284 93 faria faria PROPN bracis-33588 284 94 cabrera cabrera PROPN bracis-33588 284 95 . . PUNCT bracis-33588 285 1 editor editor NOUN bracis-33588 285 2 information information NOUN bracis-33588 285 3 editors editor NOUN bracis-33588 285 4 and and CCONJ bracis-33588 285 5 affiliations affiliation NOUN bracis-33588 285 6 universidade universidade VERB bracis-33588 285 7 federal federal PROPN bracis-33588 285 8 fluminense fluminense PROPN bracis-33588 285 9 , , PUNCT bracis-33588 285 10 niterói niterói PROPN bracis-33588 285 11 , , PUNCT bracis-33588 285 12 brazil brazil PROPN bracis-33588 285 13 aline aline PROPN bracis-33588 285 14 paes paes PROPN bracis-33588 285 15 instituto instituto PROPN bracis-33588 285 16 tecnológico tecnológico PROPN bracis-33588 285 17 de de PROPN bracis-33588 285 18 aeronáutica aeronáutica PROPN bracis-33588 285 19 , , PUNCT bracis-33588 285 20 são são PROPN bracis-33588 285 21 josé josé PROPN bracis-33588 285 22 dos dos PROPN bracis-33588 285 23 campos campos PROPN bracis-33588 285 24 , , PUNCT bracis-33588 285 25 brazil brazil PROPN bracis-33588 285 26 filipe filipe PROPN bracis-33588 285 27 a. a. PROPN bracis-33588 285 28 n. n. PROPN bracis-33588 285 29 verri verri PROPN bracis-33588 285 30 rights right NOUN bracis-33588 285 31 and and CCONJ bracis-33588 285 32 permissions permission NOUN bracis-33588 285 33 reprints reprint NOUN bracis-33588 285 34 and and CCONJ bracis-33588 285 35 permissions permission VERB bracis-33588 285 36 copyright copyright NOUN bracis-33588 285 37 information information NOUN bracis-33588 285 38 © © ADP bracis-33588 285 39 2025 2025 NUM bracis-33588 285 40 the the DET bracis-33588 285 41 author(s author(s NOUN bracis-33588 285 42 ) ) PUNCT bracis-33588 285 43 , , PUNCT bracis-33588 285 44 under under ADP bracis-33588 285 45 exclusive exclusive ADJ bracis-33588 285 46 license license NOUN bracis-33588 285 47 to to ADP bracis-33588 285 48 springer springer NOUN bracis-33588 285 49 nature nature PROPN bracis-33588 285 50 switzerland switzerland PROPN bracis-33588 285 51 ag ag PROPN bracis-33588 285 52 about about ADP bracis-33588 285 53 this this DET bracis-33588 285 54 paper paper NOUN bracis-33588 285 55 cite cite VERB bracis-33588 285 56 this this DET bracis-33588 285 57 paper paper NOUN bracis-33588 285 58 cabrera cabrera NOUN bracis-33588 285 59 , , PUNCT bracis-33588 285 60 e.f e.f PROPN bracis-33588 285 61 . . PROPN bracis-33588 285 62 , , PUNCT bracis-33588 285 63 de de PROPN bracis-33588 285 64 barros barros PROPN bracis-33588 285 65 , , PUNCT bracis-33588 285 66 m.r m.r PROPN bracis-33588 285 67 . . PROPN bracis-33588 285 68 , , PUNCT bracis-33588 285 69 costa costa PROPN bracis-33588 285 70 , , PUNCT bracis-33588 285 71 a.h.r a.h.r PROPN bracis-33588 285 72 . . PUNCT bracis-33588 286 1 ( ( PUNCT bracis-33588 286 2 2025 2025 NUM bracis-33588 286 3 ) ) PUNCT bracis-33588 286 4 . . PUNCT bracis-33588 287 1 improving improve VERB bracis-33588 287 2 llms llm NOUN bracis-33588 287 3 ’ ' PUNCT bracis-33588 287 4 reasoning reasoning NOUN bracis-33588 287 5 and and CCONJ bracis-33588 287 6     SPACE bracis-33588 287 7 planning plan VERB bracis-33588 287 8 with with ADP bracis-33588 287 9     SPACE bracis-33588 287 10 finite finite ADJ bracis-33588 287 11 - - ADJ bracis-33588 287 12 state state ADJ bracis-33588 287 13 machines machine NOUN bracis-33588 287 14 . . PUNCT bracis-33588 288 1 in in ADP bracis-33588 288 2 : : PUNCT bracis-33588 288 3 paes paes PROPN bracis-33588 288 4 , , PUNCT bracis-33588 288 5 a. a. PROPN bracis-33588 288 6 , , PUNCT bracis-33588 288 7 verri verri NOUN bracis-33588 288 8 , , PUNCT bracis-33588 288 9 f.a.n f.a.n ADJ bracis-33588 288 10 . . PUNCT bracis-33588 288 11 ( ( PUNCT bracis-33588 288 12 eds ed NOUN bracis-33588 288 13 ) ) PUNCT bracis-33588 288 14 intelligent intelligent ADJ bracis-33588 288 15 systems system NOUN bracis-33588 288 16 . . PUNCT bracis-33588 288 17 bracis bracis PROPN bracis-33588 288 18 2024 2024 NUM bracis-33588 288 19 . . PUNCT bracis-33588 289 1 lecture lecture NOUN bracis-33588 289 2 notes note NOUN bracis-33588 289 3 in in ADP bracis-33588 289 4 computer computer NOUN bracis-33588 289 5 science science NOUN bracis-33588 289 6 ( ( PUNCT bracis-33588 289 7 ) ) PUNCT bracis-33588 289 8 , , PUNCT bracis-33588 289 9 vol vol NOUN bracis-33588 289 10 15413 15413 NUM bracis-33588 289 11 . . PUNCT bracis-33588 290 1 springer springer NOUN bracis-33588 290 2 , , PUNCT bracis-33588 290 3 cham cham PROPN bracis-33588 290 4 . . PUNCT bracis-33588 291 1 https://doi.org/10.1007/978-3-031-79032-4_8 https://doi.org/10.1007/978-3-031-79032-4_8 PROPN bracis-33588 291 2 download download NOUN bracis-33588 291 3 citation citation NOUN bracis-33588 291 4 .ris .ris PUNCT bracis-33588 291 5 .enw .enw PROPN bracis-33588 291 6 .bib .bib PUNCT bracis-33588 292 1 doi doi PROPN bracis-33588 292 2 : : PUNCT bracis-33588 292 3 https://doi.org/10.1007/978-3-031-79032-4_8 https://doi.org/10.1007/978-3-031-79032-4_8 X bracis-33588 292 4 published publish VERB bracis-33588 292 5 : : PUNCT bracis-33588 292 6 30 30 NUM bracis-33588 292 7 january january PROPN bracis-33588 292 8 2025 2025 NUM bracis-33588 292 9 publisher publisher NOUN bracis-33588 292 10 name name NOUN bracis-33588 292 11 : : PUNCT bracis-33588 292 12 springer springer NOUN bracis-33588 292 13 , , PUNCT bracis-33588 292 14 cham cham PROPN bracis-33588 292 15 print print PROPN bracis-33588 292 16 isbn isbn PROPN bracis-33588 292 17 : : PUNCT bracis-33588 292 18 978 978 NUM bracis-33588 292 19 - - SYM bracis-33588 292 20 3 3 NUM bracis-33588 292 21 - - PUNCT bracis-33588 292 22 031 031 NUM bracis-33588 292 23 - - PUNCT bracis-33588 292 24 79031 79031 NUM bracis-33588 292 25 - - SYM bracis-33588 292 26 7 7 NUM bracis-33588 292 27 online online ADJ bracis-33588 292 28 isbn isbn NOUN bracis-33588 292 29 : : PUNCT bracis-33588 292 30 978 978 NUM bracis-33588 292 31 - - SYM bracis-33588 292 32 3 3 NUM bracis-33588 292 33 - - PUNCT bracis-33588 292 34 031 031 NUM bracis-33588 292 35 - - PUNCT bracis-33588 292 36 79032 79032 NUM bracis-33588 292 37 - - SYM bracis-33588 292 38 4 4 NUM bracis-33588 292 39 ebook ebook NOUN bracis-33588 292 40 packages package NOUN bracis-33588 292 41 : : PUNCT bracis-33588 292 42 computer computer NOUN bracis-33588 292 43 sciencecomputer sciencecomputer NOUN bracis-33588 292 44 science science NOUN bracis-33588 292 45 ( ( PUNCT bracis-33588 292 46 r0 r0 NOUN bracis-33588 292 47 ) ) PUNCT bracis-33588 292 48 share share VERB bracis-33588 292 49 this this DET bracis-33588 292 50 paper paper NOUN bracis-33588 292 51 anyone anyone PRON bracis-33588 292 52 you you PRON bracis-33588 292 53 share share VERB bracis-33588 292 54 the the DET bracis-33588 292 55 following follow VERB bracis-33588 292 56 link link NOUN bracis-33588 292 57 with with ADP bracis-33588 292 58 will will AUX bracis-33588 292 59 be be AUX bracis-33588 292 60 able able ADJ bracis-33588 292 61 to to PART bracis-33588 292 62 read read VERB bracis-33588 292 63 this this DET bracis-33588 292 64 content content NOUN bracis-33588 292 65 : : PUNCT bracis-33588 292 66 get get VERB bracis-33588 292 67 shareable shareable ADJ bracis-33588 292 68 linksorry linksorry NOUN bracis-33588 292 69 , , PUNCT bracis-33588 292 70 a a DET bracis-33588 292 71 shareable shareable ADJ bracis-33588 292 72 link link NOUN bracis-33588 292 73 is be AUX bracis-33588 292 74 not not PART bracis-33588 292 75 currently currently ADV bracis-33588 292 76 available available ADJ bracis-33588 292 77 for for ADP bracis-33588 292 78 this this DET bracis-33588 292 79 article article NOUN bracis-33588 292 80 . . PUNCT bracis-33588 293 1 copy copy VERB bracis-33588 293 2 shareable shareable ADJ bracis-33588 293 3 link link NOUN bracis-33588 293 4 to to PART bracis-33588 293 5 clipboard clipboard NOUN bracis-33588 293 6 provided provide VERB bracis-33588 293 7 by by ADP bracis-33588 293 8 the the DET bracis-33588 293 9 springer springer NOUN bracis-33588 293 10 nature nature PROPN bracis-33588 293 11 sharedit sharedit PROPN bracis-33588 293 12 content content NOUN bracis-33588 293 13 - - PUNCT bracis-33588 293 14 sharing share VERB bracis-33588 293 15 initiative initiative NOUN bracis-33588 293 16 keywords keyword VERB bracis-33588 293 17 large large ADJ bracis-33588 293 18 language language NOUN bracis-33588 293 19 models model NOUN bracis-33588 293 20 machine machine NOUN bracis-33588 293 21 learning learn VERB bracis-33588 293 22 planning planning NOUN bracis-33588 293 23 graph graph NOUN bracis-33588 293 24 representations representation NOUN bracis-33588 293 25 publish publish VERB bracis-33588 293 26 with with ADP bracis-33588 293 27 us us PROPN bracis-33588 293 28 policies policy NOUN bracis-33588 293 29 and and CCONJ bracis-33588 293 30 ethics ethic NOUN bracis-33588 293 31 profiles profile NOUN bracis-33588 293 32 marcel marcel PROPN bracis-33588 293 33 rodrigues rodrigues PROPN bracis-33588 293 34 de de PROPN bracis-33588 293 35 barros barros PROPN bracis-33588 293 36 view view PROPN bracis-33588 293 37 author author NOUN bracis-33588 293 38 profile profile PROPN bracis-33588 293 39 anna anna PROPN bracis-33588 293 40 helena helena PROPN bracis-33588 293 41 reali reali PROPN bracis-33588 293 42 costa costa PROPN bracis-33588 293 43 view view PROPN bracis-33588 293 44 author author NOUN bracis-33588 293 45 profile profile NOUN bracis-33588 293 46 search search NOUN bracis-33588 293 47 search search NOUN bracis-33588 293 48 by by ADP bracis-33588 293 49 keyword keyword NOUN bracis-33588 293 50 or or CCONJ bracis-33588 293 51 author author NOUN bracis-33588 293 52 search search NOUN bracis-33588 293 53 navigation navigation NOUN bracis-33588 293 54 find find VERB bracis-33588 293 55 a a DET bracis-33588 293 56 journal journal NOUN bracis-33588 293 57 publish publish VERB bracis-33588 293 58 with with ADP bracis-33588 293 59 us we PRON bracis-33588 293 60 track track VERB bracis-33588 293 61 your your PRON bracis-33588 293 62 research research NOUN bracis-33588 293 63 discover discover VERB bracis-33588 293 64 content content NOUN bracis-33588 293 65 journals journal NOUN bracis-33588 293 66 a a DET bracis-33588 293 67 - 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