Open Grounded Planning: Challenges and Benchmark Construction

Abstract: The emergence of LLMs has increasingly drawn attention to the use of LLMs for human-like planning. Existing work on LLM-based planning either focuses on leveraging the inherent language generation capabilities of LLMs to produce free-style plans, or employs reinforcement learning approaches to learn decision-making for a limited set of actions within restricted environments. However, both approaches exhibit significant discrepancies from the open and executable requirements in real-world planning. In this paper, we propose a new planning task--open grounded planning. The primary objective of open grounded planning is to ask the model to generate an executable plan based on a variable action set, thereby ensuring the executability of the produced plan. To this end, we establishes a benchmark for open grounded planning spanning a wide range of domains. Then we test current state-of-the-art LLMs along with five planning approaches, revealing that existing LLMs and methods still struggle to address the challenges posed by grounded planning in open domains. The outcomes of this paper define and establish a foundational dataset for open grounded planning, and shed light on the potential challenges and future directions of LLM-based planning.