CausalPlan: Empowering Efficient LLM Multi-Agent Collaboration Through Causality-Driven Planning

Abstract: LLM agents-especially smaller, open-source models-often produce causally invalid or incoherent actions in collaborative tasks due to their reliance on surface-level correlations rather than grounded causal reasoning. This limitation undermines their performance in terms of coordination and planning in dynamic environments. We address this challenge with CausalPlan, a two-phase framework that integrates explicit structural causal reasoning into the LLM planning process. At the core of CausalPlan is the Structural Causal Action (SCA) model, which learns a causal graph from agent trajectories to capture how prior actions and current environment states influence future decisions. This structure is then used to guide action selection by assigning causal scores to LLM-generated proposals, reweighting them accordingly, or falling back to causally grounded alternatives when needed. By embedding this causal knowledge directly into the decision loop, CausalPlan constrains planning to intervention-consistent behaviours without requiring fine-tuning of the LLM itself. We evaluate CausalPlan on the Overcooked-AI benchmark across five multi-agent coordination tasks and four LLMs of varying sizes: Gemma-7B, Llama-8B, Qwen-14B, and Llama-70B. Experimental results show that CausalPlan consistently reduces invalid actions and improves collaboration in both AI-AI and human-AI settings, outperforming strong reinforcement learning baselines. Our findings highlight the value of causality-driven planning for deploying efficient, interpretable, and generalisable multi-agent LLM systems.