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SayCanPay: Heuristic Planning with Large Language Models Using Learnable Domain Knowledge
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0003-3422-2085
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0001-5834-0188
Örebro University, School of Science and Technology. Katholieke University Leuven, Leuven, Belgium. (Centre for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0002-6860-6303
2024 (English)In: Proceedings of the 38th AAAI Conference on Artificial Intelligence / [ed] Michael Wooldridge; Jennifer Dy; Sriraam Natarajan, AAAI Press, 2024, Vol. 38, p. 20123-20133Conference paper, Published paper (Refereed)
Abstract [en]

Large Language Models (LLMs) have demonstrated impressive planning abilities due to their vast "world knowledge". Yet, obtaining plans that are both feasible (grounded in affordances) and cost-effective (in plan length), remains a challenge, despite recent progress. This contrasts with heuristic planning methods that employ domain knowledge (formalized in action models such as PDDL) and heuristic search to generate feasible, optimal plans. Inspired by this, we propose to combine the power of LLMs and heuristic planning by leveraging the world knowledge of LLMs and the principles of heuristic search. Our approach, SayCanPay, employs LLMs to generate actions (Say) guided by learnable domain knowledge, that evaluates actions' feasibility (Can) and long-term reward/payoff (Pay), and heuristic search to select the best sequence of actions. Our contributions are (1) a novel framing of the LLM planning problem in the context of heuristic planning, (2) integrating grounding and cost-effective elements into the generated plans, and (3) using heuristic search over actions. Our extensive evaluations show that our model surpasses other LLM planning approaches.

Place, publisher, year, edition, pages
AAAI Press, 2024. Vol. 38, p. 20123-20133
Series
Proceedings of the AAAI Conference on Artificial Intelligence, ISSN 2159-5399, E-ISSN 2374-3468 ; 38:18
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-115501DOI: 10.1609/aaai.v38i18.29991ISI: 001241509500037Scopus ID: 2-s2.0-85189544071ISBN: 9781577358879 (print)OAI: oai:DiVA.org:oru-115501DiVA, id: diva2:1891045
Conference
38th AAAI Conference on Artificial Intelligence (AAAI) / 36th Conference on Innovative Applications of Artificial Intelligence / 14th Symposium on Educational Advances in Artificial Intelligence, Vancouver, Canada, February 20-27, 2024
Funder
Wallenberg AI, Autonomous Systems and Software Program (WASP)Knut and Alice Wallenberg FoundationEU, Horizon 2020, 952215
Note

This work was supported by the Wallenberg AI, Autonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation, and is also part of the EU H2020 ICT48 project “TAILOR” under contract 952215, and the KU Leuven Research Fund (C14/18/062).

Available from: 2024-08-21 Created: 2024-08-21 Last updated: 2025-09-01Bibliographically approved
In thesis
1. Neurosymbolic Decision-Making with Large Language Models
Open this publication in new window or tab >>Neurosymbolic Decision-Making with Large Language Models
2025 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Reasoning and decision-making are foundational challenges in artificial intelligence (AI). These processes are closely linked – an intelligent agent must reason about its environment and goals in order to make decisions and select actions. Two principal frameworks for sequential decision-making are AI planning and reinforcement learning (RL). Planning assumes access to a known model of the environment and uses symbolic representations to compute a sequence of actions that leads from an initial state to a desired goal. In contrast, RL focuse son learning behavior through interaction, enabling agents to develop policies that maximize long-term reward under uncertainty. Despite methodological differences, both approaches aim to generate intelligent, goal-directed action sequences.

The rise of Large Language Models (LLMs) has sparked significant interest in their potential to perform reasoning, planning, and decision-making tasks. Despite their impressive performance in natural language understanding and generalization, there is growing skepticism about whether LLMs genuinely reason or merely leverage statistical correlations. This dissertation investigates this question through a principled evaluation grounded in computational theory, using 3-SAT – the canonical NP-complete problem – as a testbed. The findings demonstrate that LLMs fail to exhibit sound and complete reasoning, especially on complex instances where shallow heuristics fail, and that their apparent reasoning abilities often stem from overfitting to statistical patterns.

To address these limitations, this dissertation proposes a range of neurosymbolic architectures that combine the generative flexibility of LLMs with the rigor and reliability of symbolic methods. Empirical evaluations across planning, reward design, and plan verification tasks show that such integration yields systems that are more robust and accurate. This work advances our theoretical and practical understanding of LLM-based reasoning, provides concrete design principles for neurosymbolic systems, and charts a path toward AI agents that integrate world knowledge with logical precision.

Place, publisher, year, edition, pages
Örebro: Örebro University, 2025. p. 67
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 106
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-122456 (URN)9789175296869 (ISBN)
Public defence
2025-10-17, Örebro universitet, Långhuset, Hörsal L2, Fakultetsgatan 1, Örebro, 13:00 (English)
Opponent
Supervisors
Available from: 2025-07-22 Created: 2025-07-22 Last updated: 2025-09-04Bibliographically approved

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Hazra, RishiZuidberg dos Martires, PedroDe Raedt, Luc

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