ReCode: Unify Plan and Action for Universal Granularity Control
Authors: name: Zhaoyang Yu, name: Jiayi Zhang, name: Huixue Su, name: Yufan Zhao, name: Yifan Wu, name: Mingyi Deng, name: Jinyu Xiang, name: Yizhang Lin, name: Lingxiao Tang, name: Yingchao Li, name: Yuyu Luo, name: Bang Liu, name: Chenglin Wu

Real-world tasks require decisions at varying granularities, and humans excel
at this by leveraging a unified cognitive representation where planning is
fundamentally understood as a high-level form of action. However, current Large
Language Model (LLM)-based agents lack this crucial capability to operate
fluidly across decision granularities. This limitation stems from existing
paradigms that enforce a rigid separation between high-level planning and
low-level action, which impairs dynamic adaptability and limits generalization.
We propose ReCode (Recursive Code Generation), a novel paradigm that addresses
this limitation by unifying planning and action within a single code
representation. In this representation, ReCode treats high-level plans as
abstract placeholder functions, which the agent then recursively decomposes
into finer-grained sub-functions until reaching primitive actions. This
recursive approach dissolves the rigid boundary between plan and action,
enabling the agent to dynamically control its decision granularity.
Furthermore, the recursive structure inherently generates rich,
multi-granularity training data, enabling models to learn hierarchical
decision-making processes. Extensive experiments show ReCode significantly
surpasses advanced baselines in inference performance and demonstrates
exceptional data efficiency in training, validating our core insight that
unifying planning and action through recursive code generation is a powerful
and effective approach to achieving universal granularity control. The code is
available at https://github.com/FoundationAgents/ReCode.