# Tree-Planner: Efficient Close-loop Task Planning with Large Language Models

arXiv: https://arxiv.org/abs/2310.08582 · HTML: https://mlsanity.com/paper/2310.08582/

## Key facts

- Cited by 48 papers in the map (data through 14 Oct 2026).
- Placed in Reasoning for agents, planning and code, one of 17 directions in LLM reasoning.
- Builds on 47 of its 62 references that are in the map.
- First posted on arXiv 12 Oct 2023.

## Placed in

- LLM reasoning / [Reasoning for agents, planning and code](https://mlsanity.com/lr/reasoning-for-agents-planning-and-code/)

## Builds on (most cited first, 30 of 47)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Self-Consistency Improves Chain of Thought Reasoning in Language Models](https://mlsanity.com/paper/2203.11171/) (2022)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Transformers are RNNs: Fast Autoregressive Transformers with Linear Attention](https://mlsanity.com/paper/2006.16236/) (2020)
- [Fast Inference from Transformers via Speculative Decoding](https://mlsanity.com/paper/2211.17192/) (2022)
- [Linformer: Self-Attention with Linear Complexity](https://mlsanity.com/paper/2006.04768/) (2020)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Accelerating Large Language Model Decoding with Speculative Sampling](https://mlsanity.com/paper/2302.01318/) (2023)
- [Reasoning with Language Model is Planning with World Model](https://mlsanity.com/paper/2305.14992/) (2023)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language](https://mlsanity.com/paper/2204.00598/) (2022)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents](https://mlsanity.com/paper/2302.01560/) (2023)
- [ChatGPT for Robotics: Design Principles and Model Abilities](https://mlsanity.com/paper/2306.17582/) (2023)
- [EmbodiedGPT: Vision-Language Pre-Training via Embodied Chain of Thought](https://mlsanity.com/paper/2305.15021/) (2023)
- [Large Language Models as Commonsense Knowledge for Large-Scale Task Planning](https://mlsanity.com/paper/2305.14078/) (2023)
- [Pre-Trained Language Models for Interactive Decision-Making](https://mlsanity.com/paper/2202.01771/) (2022)
- [Large Language Model Guided Tree-of-Thought](https://mlsanity.com/paper/2305.08291/) (2023)
- [AdaPlanner: Adaptive Planning from Feedback with Language Models](https://mlsanity.com/paper/2305.16653/) (2023)
- [Grounding Large Language Models in Interactive Environments with Online Reinforcement Learning](https://mlsanity.com/paper/2302.02662/) (2023)
- [Search on the Replay Buffer: Bridging Planning and Reinforcement Learning](https://mlsanity.com/paper/1906.05253/) (2019)
- [Commonsense Knowledge Mining from Pretrained Models](https://mlsanity.com/paper/1909.00505/) (2019)
- [SwiftSage: A Generative Agent with Fast and Slow Thinking for Complex Interactive Tasks](https://mlsanity.com/paper/2305.17390/) (2023)
- [Foundation Models for Decision Making: Problems, Methods, and Opportunities](https://mlsanity.com/paper/2303.04129/) (2023)

## Built on by (most cited first, 30 of 48)

- [Stop Overthinking: A Survey on Efficient Reasoning for Large Language Models](https://mlsanity.com/paper/2503.16419/) (2025)
- [A Survey on Knowledge Distillation of Large Language Models](https://mlsanity.com/paper/2402.13116/) (2024)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Large Language Model Agent: A Survey on Methodology, Applications and Challenges](https://mlsanity.com/paper/2503.21460/) (2025)
- [A Survey of Self-Evolving Agents: What, When, How, and Where to Evolve on the Path to Artificial Super Intelligence](https://mlsanity.com/paper/2507.21046/) (2025)
- [A Survey of Context Engineering for Large Language Models](https://mlsanity.com/paper/2507.13334/) (2025)
- [RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins](https://mlsanity.com/paper/2504.13059/) (2025)
- [HiAgent: Hierarchical Working Memory Management for Solving Long-Horizon Agent Tasks with Large Language Model](https://mlsanity.com/paper/2408.09559/) (2024)
- [Large Language Models Meet NLP: A Survey](https://mlsanity.com/paper/2405.12819/) (2024)
- [AutoML-Agent: A Multi-Agent LLM Framework for Full-Pipeline AutoML](https://mlsanity.com/paper/2410.02958/) (2024)
- [AgentGen: Enhancing Planning Abilities for Large Language Model based Agent via Environment and Task Generation](https://mlsanity.com/paper/2408.00764/) (2024)
- [Lifelong Learning of Large Language Model based Agents: A Roadmap](https://mlsanity.com/paper/2501.07278/) (2025)
- [GPT-4V(ision) for Robotics: Multimodal Task Planning from Human Demonstration](https://mlsanity.com/paper/2311.12015/) (2023)
- [From AI for Science to Agentic Science: A Survey on Autonomous Scientific Discovery](https://mlsanity.com/paper/2508.14111/) (2025)
- [RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)](https://mlsanity.com/paper/2409.02920/) (2024)
- [RoboCodeX: Multimodal Code Generation for Robotic Behavior Synthesis](https://mlsanity.com/paper/2402.16117/) (2024)
- [A Survey of LLM-Driven AI Agent Communication: Protocols, Security Risks, and Defense Countermeasures](https://mlsanity.com/paper/2506.19676/) (2025)
- [Unlocking the Capabilities of Thought: A Reasoning Boundary Framework to Quantify and Optimize Chain-of-Thought](https://mlsanity.com/paper/2410.05695/) (2024)
- [Towards Efficient LLM Grounding for Embodied Multi-Agent Collaboration](https://mlsanity.com/paper/2405.14314/) (2024)
- [Large Language Models for Planning: A Comprehensive and Systematic Survey](https://mlsanity.com/paper/2505.19683/) (2025)
- [Tool-Planner: Task Planning with Clusters across Multiple Tools](https://mlsanity.com/paper/2406.03807/) (2024)
- [What Factors Affect Multi-Modal In-Context Learning? An In-Depth Exploration](https://mlsanity.com/paper/2410.20482/) (2024)
- [EMOS: Embodiment-aware Heterogeneous Multi-robot Operating System with LLM Agents](https://mlsanity.com/paper/2410.22662/) (2024)
- [Multi-Agent Large Language Models for Conversational Task-Solving](https://mlsanity.com/paper/2410.22932/) (2024)
- [O2-Searcher: A Searching-based Agent Model for Open-Domain Open-Ended Question Answering](https://mlsanity.com/paper/2505.16582/) (2025)
- [A Survey on LLM Test-Time Compute via Search: Tasks, LLM Profiling, Search Algorithms, and Relevant Frameworks](https://mlsanity.com/paper/2501.10069/) (2025)
- [Virtual Agent Economies](https://mlsanity.com/paper/2509.10147/) (2025)
- [Learning Reward for Robot Skills Using Large Language Models via Self-Alignment](https://mlsanity.com/paper/2405.07162/) (2024)
- [From Words to Actions: Unveiling the Theoretical Underpinnings of LLM-Driven Autonomous Systems](https://mlsanity.com/paper/2405.19883/) (2024)
- [DAG-Plan: Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planning](https://mlsanity.com/paper/2406.09953/) (2024)

## Abstract (arXiv)

This paper studies close-loop task planning, which refers to the process of generating a sequence of skills (a plan) to accomplish a specific goal while adapting the plan based on real-time observations. Recently, prompting Large Language Models (LLMs) to generate actions iteratively has become a prevalent paradigm due to its superior performance and user-friendliness. However, this paradigm is plagued by two inefficiencies: high token consumption and redundant error correction, both of which hinder its scalability for large-scale testing and applications. To address these issues, we propose Tree-Planner, which reframes task planning with LLMs into three distinct phases: plan sampling, action tree construction, and grounded deciding. Tree-Planner starts by using an LLM to sample a set of potential plans before execution, followed by the aggregation of them to form an action tree. Finally, the LLM performs a top-down decision-making process on the tree, taking into account real-time environmental information. Experiments show that Tree-Planner achieves state-of-the-art performance while maintaining high efficiency. By decomposing LLM queries into a single plan-sampling call and multiple grounded-deciding calls, a considerable part of the prompt are less likely to be repeatedly consumed. As a result, token consumption is reduced by 92.2% compared to the previously best-performing model. Additionally, by enabling backtracking on the action tree as needed, the correction process becomes more flexible, leading to a 40.5% decrease in error corrections.