planning

GAVEL: Graph World Models for Verified and Efficient Long-Horizon LLM Task Planningarxiv.org

GAVEL augments LLM‑driven robot planners with an explicit graph world model that verifies actions, repairs violations, and reasons over belief distributions, boosting single‑task success from 41 % to 92 % and multi‑task success from 20 % to 93 % on BEHAVIOR‑1K.