# From An LLM Swarm To A PDDL-Empowered HIVE: Planning Self-Executed Instructions In A Multi-Modal Jungle

arXiv: https://arxiv.org/abs/2412.12839 · HTML: https://mlsanity.com/paper/2412.12839/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 70 references that are in the map.
- First posted on arXiv 17 Dec 2024.

## Builds on (most cited first, 30 of 48)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [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)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [BART: Denoising Sequence-to-Sequence Pre-training for Natural Language Generation, Translation, and Comprehension](https://mlsanity.com/paper/1910.13461/) (2019)
- [Self-Consistency Improves Chain of Thought Reasoning in Language Models](https://mlsanity.com/paper/2203.11171/) (2022)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [DistilBERT, a distilled version of BERT: smaller, faster, cheaper and lighter](https://mlsanity.com/paper/1910.01108/) (2019)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Toolformer: Language Models Can Teach Themselves to Use Tools](https://mlsanity.com/paper/2302.04761/) (2023)
- [Robust Speech Recognition via Large-Scale Weak Supervision](https://mlsanity.com/paper/2212.04356/) (2022)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [Pre-train, Prompt, and Predict: A Systematic Survey of Prompting Methods in Natural Language Processing](https://mlsanity.com/paper/2107.13586/) (2021)
- [HuggingFace's Transformers: State-of-the-art Natural Language Processing](https://mlsanity.com/paper/1910.03771/) (2019)
- [ToolLLM: Facilitating Large Language Models to Master 16000+ Real-world APIs](https://mlsanity.com/paper/2307.16789/) (2023)
- [Language Models as Knowledge Bases?](https://mlsanity.com/paper/1909.01066/) (2019)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Common Voice: A Massively-Multilingual Speech Corpus](https://mlsanity.com/paper/1912.06670/) (2019)
- [HuggingGPT: Solving AI Tasks with ChatGPT and its Friends in Hugging Face](https://mlsanity.com/paper/2303.17580/) (2023)
- [Model Cards for Model Reporting](https://mlsanity.com/paper/1810.03993/) (2018)
- [Program of Thoughts Prompting: Disentangling Computation from Reasoning for Numerical Reasoning Tasks](https://mlsanity.com/paper/2211.12588/) (2022)
- [Graph of Thoughts: Solving Elaborate Problems with Large Language Models](https://mlsanity.com/paper/2308.09687/) (2023)
- [Visual ChatGPT: Talking, Drawing and Editing with Visual Foundation Models](https://mlsanity.com/paper/2303.04671/) (2023)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [PICARD: Parsing Incrementally for Constrained Auto-Regressive Decoding from Language Models](https://mlsanity.com/paper/2109.05093/) (2021)
- [InternLM2 Technical Report](https://mlsanity.com/paper/2403.17297/) (2024)
- [PlanBench: An Extensible Benchmark for Evaluating Large Language Models on Planning and Reasoning about Change](https://mlsanity.com/paper/2206.10498/) (2022)

## Built on by (most cited first, 4 of 4)

- [A Survey of Agentic Reasoning for Large Language Models: Towards Recursively Self-Improving and Collective Agents](https://mlsanity.com/paper/2601.12538/) (2026)
- [A Solver-in-the-Loop Framework for Improving LLMs on Answer Set Programming for Logic Puzzle Solving](https://mlsanity.com/paper/2512.17093/) (2025)
- [An Extensive Evaluation of PDDL Capabilities in off-the-shelf LLMs](https://mlsanity.com/paper/2502.20175/) (2025)
- [Grokking From Abstraction to Intelligence](https://mlsanity.com/paper/2603.29262/) (2026)

## Abstract (arXiv)

In response to the call for agent-based solutions that leverage the ever-increasing capabilities of the deep models' ecosystem, we introduce Hive -- a comprehensive solution for knowledge-aware planning of a set of atomic actions to address input queries and subsequently selecting appropriate models accordingly. Hive operates over sets of models and, upon receiving natural language instructions (i.e. user queries), schedules and executes explainable plans of atomic actions. These actions can involve one or more of the available models to achieve the overall task, while respecting end-users specific constraints. Notably, Hive handles tasks that involve multi-modal inputs and outputs, enabling it to handle complex, real-world queries. Our system is capable of planning complex chains of actions while guaranteeing explainability, using an LLM-based formal logic backbone empowered by PDDL operations. We introduce the MuSE benchmark in order to offer a comprehensive evaluation of the multi-modal capabilities of agent systems. Our findings show that our framework redefines the state-of-the-art for task selection, outperforming other competing systems that plan operations across multiple models while offering transparency guarantees while fully adhering to user constraints.