# SAND: Boosting LLM Agents with Self-Taught Action Deliberation

arXiv: https://arxiv.org/abs/2507.07441 · HTML: https://mlsanity.com/paper/2507.07441/

## Key facts

- Cited by 14 papers in the map (data through 14 Oct 2026).
- Placed in General LLM agent frameworks and benchmarks, one of 16 directions in LLM agents and tool use.
- Builds on 25 of its 44 references that are in the map.
- First posted on arXiv 10 Jul 2025.

## Placed in

- LLM agents and tool use / [General LLM agent frameworks and benchmarks](https://mlsanity.com/agents/general-llm-agent-frameworks-and-benchmarks/)
- LLM alignment / RLHF / preference optimisation / [Process reward models for reasoning](https://mlsanity.com/alignment/process-reward-models-for-reasoning/)

## Builds on (most cited first, 25 of 25)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [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)
- [Self-Refine: Iterative Refinement with Self-Feedback](https://mlsanity.com/paper/2303.17651/) (2023)
- [WebGPT: Browser-assisted question-answering with human feedback](https://mlsanity.com/paper/2112.09332/) (2021)
- [WebShop: Towards Scalable Real-World Web Interaction with Grounded Language Agents](https://mlsanity.com/paper/2207.01206/) (2022)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [ScienceWorld: Is your Agent Smarter than a 5th Grader?](https://mlsanity.com/paper/2203.07540/) (2022)
- [Deliberative Alignment: Reasoning Enables Safer Language Models](https://mlsanity.com/paper/2412.16339/) (2024)
- [FireAct: Toward Language Agent Fine-tuning](https://mlsanity.com/paper/2310.05915/) (2023)
- [Watch Every Step! LLM Agent Learning via Iterative Step-Level Process Refinement](https://mlsanity.com/paper/2406.11176/) (2024)
- [Agent-R: Training Language Model Agents to Reflect via Iterative Self-Training](https://mlsanity.com/paper/2501.11425/) (2025)
- [Agent Planning with World Knowledge Model](https://mlsanity.com/paper/2405.14205/) (2024)
- [Direct Multi-Turn Preference Optimization for Language Agents](https://mlsanity.com/paper/2406.14868/) (2024)
- [AgentBank: Towards Generalized LLM Agents via Fine-Tuning on 50000+ Interaction Trajectories](https://mlsanity.com/paper/2410.07706/) (2024)
- [Internal Consistency and Self-Feedback in Large Language Models: A Survey](https://mlsanity.com/paper/2407.14507/) (2024)
- [Beyond Chain-of-Thought: A Survey of Chain-of-X Paradigms for LLMs](https://mlsanity.com/paper/2404.15676/) (2024)
- [MPO: Boosting LLM Agents with Meta Plan Optimization](https://mlsanity.com/paper/2503.02682/) (2025)
- [ATLaS: Agent Tuning via Learning Critical Steps](https://mlsanity.com/paper/2503.02197/) (2025)
- [Enhancing Decision-Making for LLM Agents via Step-Level Q-Value Models](https://mlsanity.com/paper/2409.09345/) (2024)
- [AgentRM: Enhancing Agent Generalization with Reward Modeling](https://mlsanity.com/paper/2502.18407/) (2025)
- [Knowledge-Aware Query Expansion with Large Language Models for Textual and Relational Retrieval](https://mlsanity.com/paper/2410.13765/) (2024)
- [QLASS: Boosting Language Agent Inference via Q-Guided Stepwise Search](https://mlsanity.com/paper/2502.02584/) (2025)

## Built on by (most cited first, 14 of 14)

- [ReCode: Unify Plan and Action for Universal Granularity Control](https://mlsanity.com/paper/2510.23564/) (2025)
- [Skill-R1: Agent Skill Evolution via Reinforcement Learning](https://mlsanity.com/paper/2605.09359/) (2026)
- [Multi-Agent Collaborative Filtering: Orchestrating Users and Items for Agentic Recommendations](https://mlsanity.com/paper/2511.18413/) (2025)
- [Generate, Filter, Control, Replay: A Comprehensive Survey of Rollout Strategies for LLM Reinforcement Learning](https://mlsanity.com/paper/2605.02913/) (2026)
- [PABU: Progress-Aware Belief Update for Efficient LLM Agents](https://mlsanity.com/paper/2602.09138/) (2026)
- [Retrieval-Augmented LLM Agents: Learning to Learn from Experience](https://mlsanity.com/paper/2603.18272/) (2026)
- [Hera: Learning Long-Horizon Coordination for Device-Cloud Collaborative LLM Agents](https://mlsanity.com/paper/2605.24598/) (2026)
- [TAPE: Tool-Guided Adaptive Planning and Constrained Execution in Language Model Agents](https://mlsanity.com/paper/2602.19633/) (2026)
- [Supervised Fine-Tuning versus Reinforcement Learning: A Study of Post-Training Methods for Large Language Models](https://mlsanity.com/paper/2603.13985/) (2026)
- [OLIVIA: Online Learning via Inference-time Action Adaptation for Decision Making in LLM ReAct Agents](https://mlsanity.com/paper/2605.11169/) (2026)
- [State2State: Environment-Derived Mid-Training for LLM Agents](https://mlsanity.com/paper/2608.04934/) (2026)
- [Skill-CMIB: Multimodal Agent Skill for Consistent Action via Conditional Multimodal Information Bottleneck](https://mlsanity.com/paper/2605.08526/) (2026)
- [The Deliberative Illusion: Diagnosing Factual Attrition and Stance Homogenization in Multi-Agent LLM Deliberation](https://mlsanity.com/paper/2606.03032/) (2026)
- [From Process Loss to Assembly Bonus: Human-Grounded Diagnosis of Multi-Agent LLM Collaboration](https://mlsanity.com/paper/2609.13261/) (2026)

## Abstract (arXiv)

Large Language Model (LLM) agents are commonly tuned with supervised finetuning on ReAct-style expert trajectories or preference optimization over pairwise rollouts. Most of these methods focus on imitating specific expert behaviors or promoting chosen reasoning thoughts and actions over rejected ones. However, without reasoning and comparing over alternatives actions, LLM agents finetuned with these methods may over-commit towards seemingly plausible but suboptimal actions due to limited action space exploration. To address this, in this paper we propose Self-taught ActioN Deliberation (SAND) framework, enabling LLM agents to explicitly deliberate over candidate actions before committing to one. To tackle the challenges of when and what to deliberate given large action space and step-level action evaluation, we incorporate self-consistency action sampling and execution-guided action critique to help synthesize step-wise action deliberation thoughts using the base model of the LLM agent. In an iterative manner, the deliberation trajectories are then used to finetune the LLM agent itself. Evaluating on two representative interactive agent tasks, SAND achieves an average 20% improvement over initial supervised finetuning and also outperforms state-of-the-art agent tuning approaches.