# Code Driven Planning with Domain-Adaptive Critic

arXiv: https://arxiv.org/abs/2509.19077 · HTML: https://mlsanity.com/paper/2509.19077/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 33 of its 46 references that are in the map.
- First posted on arXiv 23 Sep 2025.

## Builds on (most cited first, 30 of 33)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (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)
- [Evaluating Large Language Models Trained on Code](https://mlsanity.com/paper/2107.03374/) (2021)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Constitutional AI: Harmlessness from AI Feedback](https://mlsanity.com/paper/2212.08073/) (2022)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [Qwen2 Technical Report](https://mlsanity.com/paper/2407.10671/) (2024)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [Qwen2.5-Coder Technical Report](https://mlsanity.com/paper/2409.12186/) (2024)
- [DeepSeek-Coder: When the Large Language Model Meets Programming -- The Rise of Code Intelligence](https://mlsanity.com/paper/2401.14196/) (2024)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Teaching Large Language Models to Self-Debug](https://mlsanity.com/paper/2304.05128/) (2023)
- [TinyLlama: An Open-Source Small Language Model](https://mlsanity.com/paper/2401.02385/) (2024)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents](https://mlsanity.com/paper/2302.01560/) (2023)
- [CodeT: Code Generation with Generated Tests](https://mlsanity.com/paper/2207.10397/) (2022)
- [CodeRL: Mastering Code Generation through Pretrained Models and Deep Reinforcement Learning](https://mlsanity.com/paper/2207.01780/) (2022)
- [The NetHack Learning Environment](https://mlsanity.com/paper/2006.13760/) (2020)
- [AdaPlanner: Adaptive Planning from Feedback with Language Models](https://mlsanity.com/paper/2305.16653/) (2023)
- [Generalized Planning in PDDL Domains with Pretrained Large Language Models](https://mlsanity.com/paper/2305.11014/) (2023)
- [Dynamic Planning with a LLM](https://mlsanity.com/paper/2308.06391/) (2023)
- [SayCanPay: Heuristic Planning with Large Language Models using Learnable Domain Knowledge](https://mlsanity.com/paper/2308.12682/) (2023)
- [True Knowledge Comes from Practice: Aligning LLMs with Embodied Environments via Reinforcement Learning](https://mlsanity.com/paper/2401.14151/) (2024)
- [Playing NetHack with LLMs: Potential & Limitations as Zero-Shot Agents](https://mlsanity.com/paper/2403.00690/) (2024)

## Abstract (arXiv)

Large Language Models (LLMs) have been widely adopted as task planners for AI agents in sequential decision-making problems, leveraging their extensive world knowledge. However, the gap between their general knowledge and environment-specific requirements often leads to inaccurate plans. To address this, existing approaches rely on frequent LLM queries to iteratively refine plans based on immediate environmental feedback, which incurs substantial query costs. However, this refinement is typically guided by short-term environmental feedback, limiting LLMs from developing plans aligned with long-term rewards. We propose Code Driven Planning with Domain-Adaptive Critic (CoPiC). Instead of relying on frequent queries, CoPiC employs LLMs to generate a diverse set of high-level planning programs, which iteratively produce and refine candidate plans. A trained domain-adaptive critic then evaluates these candidates and selects the one most aligned with long-term rewards for execution. Using high-level planning programs as planner and domain-adaptive critic as estimator, CoPiC improves planning while significantly reducing query costs. Results in ALFWorld, NetHack, and StarCraft II Unit Building show that CoPiC outperforms advanced LLM-based baselines, AdaPlanner and Reflexion, achieving an average (1) 23.33% improvement in success rate and (2) 91.27% reduction in query costs.