Meta-Ctrl: Guaranteed Plan Generation by Decoupling Syntactic and Semantic Constraints
LLMs generate fluent plans for robots but routinely violate the syntactic and se8mantic constraints they must satisfy to execute, and existing remedies trade formal guarantees against plan quality: soft methods (affordance scoring, grounded decoding) give no guarantee, while symbolic planners (LLM+P) discard the LM's commonsense. We propose \textbf{Meta-Ctrl}, a constrained-decoding framework that guarantees the encoded constraints while preserving the base LM's plan quality. Meta-Ctrl introduces \emph{meta-tokens}---a compact vocabulary of grounded actions---enforcing syntax at the token level and semantics (preconditions, goals, ordering) at the action level, an exact factorization that...
| Authors | Gwen Yidou-Weng, Edward Sun, Tianyi Ma et al. |
|---|---|
| Primary category | cs.RO |
| Published | 23 August 2026 |
| Last updated at source | 28 August 2026 |
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