# TPS-Bench: Evaluating AI Agents' Tool Planning & Scheduling Abilities in Compounding Tasks

arXiv: https://arxiv.org/abs/2511.01527 · HTML: https://mlsanity.com/paper/2511.01527/

## Key facts

- Cited by 9 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 31 of its 43 references that are in the map.
- First posted on arXiv 3 Nov 2025.

## Placed in

- LLM agents and tool use / [General LLM agent frameworks and benchmarks](https://mlsanity.com/agents/general-llm-agent-frameworks-and-benchmarks/)

## Builds on (most cited first, 30 of 31)

- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [Judging LLM-as-a-Judge with MT-Bench and Chatbot Arena](https://mlsanity.com/paper/2306.05685/) (2023)
- [Efficient Memory Management for Large Language Model Serving with PagedAttention](https://mlsanity.com/paper/2309.06180/) (2023)
- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [SWE-bench: Can Language Models Resolve Real-World GitHub Issues?](https://mlsanity.com/paper/2310.06770/) (2023)
- [HybridFlow: A Flexible and Efficient RLHF Framework](https://mlsanity.com/paper/2409.19256/) (2024)
- [Beyond the Imitation Game: Quantifying and extrapolating the capabilities of language models](https://mlsanity.com/paper/2206.04615/) (2022)
- [ToolLLM: Facilitating Large Language Models to Master 16000+ Real-world APIs](https://mlsanity.com/paper/2307.16789/) (2023)
- [WebGPT: Browser-assisted question-answering with human feedback](https://mlsanity.com/paper/2112.09332/) (2021)
- [SWE-agent: Agent-Computer Interfaces Enable Automated Software Engineering](https://mlsanity.com/paper/2405.15793/) (2024)
- [The Rise and Potential of Large Language Model Based Agents: A Survey](https://mlsanity.com/paper/2309.07864/) (2023)
- [AgentBench: Evaluating LLMs as Agents](https://mlsanity.com/paper/2308.03688/) (2023)
- [τ2-Bench: Evaluating Conversational Agents in a Dual-Control Environment](https://mlsanity.com/paper/2506.07982/) (2025)
- [GLM-4.5: Agentic, Reasoning, and Coding (ARC) Foundation Models](https://mlsanity.com/paper/2508.06471/) (2025)
- [AppWorld: A Controllable World of Apps and People for Benchmarking Interactive Coding Agents](https://mlsanity.com/paper/2407.18901/) (2024)
- [TravelPlanner: A Benchmark for Real-World Planning with Language Agents](https://mlsanity.com/paper/2402.01622/) (2024)
- [AgentBoard: An Analytical Evaluation Board of Multi-turn LLM Agents](https://mlsanity.com/paper/2401.13178/) (2024)
- [Model Context Protocol (MCP): Landscape, Security Threats, and Future Research Directions](https://mlsanity.com/paper/2503.23278/) (2025)
- [MetaTool Benchmark for Large Language Models: Deciding Whether to Use Tools and Which to Use](https://mlsanity.com/paper/2310.03128/) (2023)
- [A Survey on Efficient Inference for Large Language Models](https://mlsanity.com/paper/2404.14294/) (2024)
- [AssistantBench: Can Web Agents Solve Realistic and Time-Consuming Tasks?](https://mlsanity.com/paper/2407.15711/) (2024)
- [Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Making](https://mlsanity.com/paper/2410.07166/) (2024)
- [SmartPlay: A Benchmark for LLMs as Intelligent Agents](https://mlsanity.com/paper/2310.01557/) (2023)
- [Towards Efficient Generative Large Language Model Serving: A Survey from Algorithms to Systems](https://mlsanity.com/paper/2312.15234/) (2023)
- [T-Eval: Evaluating the Tool Utilization Capability of Large Language Models Step by Step](https://mlsanity.com/paper/2312.14033/) (2023)
- [AvaTaR: Optimizing LLM Agents for Tool Usage via Contrastive Reasoning](https://mlsanity.com/paper/2406.11200/) (2024)
- [ToolEyes: Fine-Grained Evaluation for Tool Learning Capabilities of Large Language Models in Real-world Scenarios](https://mlsanity.com/paper/2401.00741/) (2024)
- [Efficient Agents: Building Effective Agents While Reducing Cost](https://mlsanity.com/paper/2508.02694/) (2025)
- [Faster and Better LLMs via Latency-Aware Test-Time Scaling](https://mlsanity.com/paper/2505.19634/) (2025)

## Built on by (most cited first, 9 of 9)

- [Toward Efficient Agents: Memory, Tool learning, and Planning](https://mlsanity.com/paper/2601.14192/) (2026)
- [Agentic Environment Engineering for Large Language Models: A Survey of Environment Modeling, Synthesis, Evaluation, and Application](https://mlsanity.com/paper/2606.12191/) (2026)
- [Can LLMs Perceive Time? An Empirical Investigation](https://mlsanity.com/paper/2604.00010/) (2026)
- [PeakBench: Benchmarking Resource-Aware Tool Invocation in LLM Agents](https://mlsanity.com/paper/2608.24509/) (2026)
- [FlowScout: From Execution Feedback to Reliable Tool-Using Agent Workflows](https://mlsanity.com/paper/2608.10039/) (2026)
- [AgentDecarbonizer: Carbon-Aware Execution for AI Agents](https://mlsanity.com/paper/2608.20566/) (2026)
- [Toollery: Scaling LLM Agents to Thousands of Skills and Tools](https://mlsanity.com/paper/2609.22218/) (2026)
- [Realize What Matters: Principled Context Representation for Large-Scale Reasoning](https://mlsanity.com/paper/2609.27173/) (2026)
- [AgentTime: Can Agents Estimate and Control Their Own Runtime?](https://mlsanity.com/paper/2610.09944/) (2026)

## Abstract (arXiv)

Large language model (LLM) agents have exhibited strong problem-solving competence across domains like research and coding. Yet, it remains underexplored whether LLM agents can tackle compounding real-world problems that require a diverse set of tools to complete. Given a broad, heterogeneous tool repository, LLM agents must not only select appropriate tools based on task planning analysis but also strategically schedule the execution order to ensure efficiency. This paper introduces TPS-Bench to benchmark the ability of LLM agents in solving such problems that demand Tool Planning and Scheduling. TPS-Bench collects 200 compounding tasks of two difficulty levels, based on a tool repository containing hundreds of model context protocol (MCP) tools. In particular, each task is composed of multiple subtasks, such as web search, map navigation, calendar checking, etc., and each subtask can be completed by a basic tool. Our evaluation emphasizes both task completion rate and efficiency. The empirical studies on popular closed-source and open-source LLMs indicate that most models can perform reasonable tool planning, but differ in scheduling. For example, GLM-4.5 achieves an outperforming task completion rate of 64.72% with extensive sequential tool calls, hence suffering from significantly long execution time. By contrast, GPT-4o prioritizes parallel tool calls but achieves only a 45.08% completion rate. Considering reinforcement learning (RL) can be a viable way to improve the scheduling efficiency without compromising performance, we perform an initial study on Qwen3-1.7B and witness a 14% reduction in execution time alongside a 6% gain in task completion rate based on rarely 100 RL training samples. Our code is available https://github.com/hanwenxu1/mcp-agent.