Title: Code Driven Planning with Domain-Adaptive Selector
Primary area: reinforcement learning
Keywords: LLM-based Planning, Planning Programs, Domain-Adaptive Selector, Large Language Models

Abstract: Large Language Models (LLMs) have been widely adopted as task planners for AI agents in sequential decision-making problems, leveraging their extensive world knowledge. However, the gap between their general knowledge and environment-specific requirements often leads to inaccurate plans. To address this, existing approaches rely on frequent LLM queries to iteratively refine plans based on immediate environmental feedback, which incurs substantial query costs. However, this refinement is typically guided by short-term environmental feedback, limiting LLMs from developing plans aligned with long-term rewards. We propose **Co**de Driven **P**lanning w**i**th Domain-Adaptive Sele**C**tor (CoPiC). Instead of relying on frequent queries, CoPiC employs LLMs to generate a diverse set of high-level planning programs, which iteratively produce and refine candidate plans. A trained domain-adaptive selector then evaluates these candidates and selects the one most aligned with long-term rewards for execution. Using high-level planning programs as planner and domain-adaptive selector as estimator, CoPiC improves planning while significantly reducing query costs. Results in ALFWorld, NetHack, and StarCraft II Unit Building show that CoPiC outperforms advanced LLM-based baselines, achieving an average (1) 19.14\% improvement in success rate and (2) 79.39\% reduction in token costs.

TL;DR: CoPiC presents a novel planning paradigm that leverages LLM to generate diverse planning programs and employs a domain-adaptive selector to select high-quality plans, reducing LLM query costs while boosting performance.