# SafeRun: Enabling Determinism in LLM Planning for Running

arXiv: https://arxiv.org/abs/2606.09027 · HTML: https://mlsanity.com/paper/2606.09027/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 19 of its 25 references that are in the map.
- First posted on arXiv 8 Jun 2026.

## Builds on (most cited first, 19 of 19)

- [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)
- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Self-Refine: Iterative Refinement with Self-Feedback](https://mlsanity.com/paper/2303.17651/) (2023)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [HuggingGPT: Solving AI Tasks with ChatGPT and its Friends in Hugging Face](https://mlsanity.com/paper/2303.17580/) (2023)
- [OpenAI GPT-5 System Card](https://mlsanity.com/paper/2601.03267/) (2025)
- [Graph of Thoughts: Solving Elaborate Problems with Large Language Models](https://mlsanity.com/paper/2308.09687/) (2023)
- [Reasoning with Language Model is Planning with World Model](https://mlsanity.com/paper/2305.14992/) (2023)
- [DeepSeek-V3.2: Pushing the Frontier of Open Large Language Models](https://mlsanity.com/paper/2512.02556/) (2025)
- [Executable Code Actions Elicit Better LLM Agents](https://mlsanity.com/paper/2402.01030/) (2024)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [Large Language Models as Commonsense Knowledge for Large-Scale Task Planning](https://mlsanity.com/paper/2305.14078/) (2023)
- [Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning](https://mlsanity.com/paper/2305.14909/) (2023)
- [AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers](https://mlsanity.com/paper/2306.06531/) (2023)
- [Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems?](https://mlsanity.com/paper/2309.15943/) (2023)
- [Large Language Models Can Solve Real-World Planning Rigorously with Formal Verification Tools](https://mlsanity.com/paper/2404.11891/) (2024)
- [Unbiased Evaluation of Large Language Models from a Causal Perspective](https://mlsanity.com/paper/2502.06655/) (2025)

## Abstract (arXiv)

Large Language Models enable flexible natural-language planning but remain unreliable in determinism-critical domains due to their probabilistic nature. This limitation is especially problematic in running planning, where violating safety rules can lead to safety risks. We propose SafeRun, a framework for deterministic LLM-based planning via a decoupled architecture. SafeRun separates soft interpretation by an LLM from hard constraint enforcement by a deterministic solver, ensuring strict safety constraints while preserving natural-language flexibility. To validate SafeRun, we build a comprehensive benchmark for running planning under realistic physiological and safety constraints. Experiments across five LLMs show that SafeRun achieves 100% safety score (vs. 79.1% PE average and 97.6% CodeAct average) while maintaining competitive instruction-following scores. The SafeRun benchmark is publicly available at hrefhttps://huggingface.co/datasets/zzp-seeker/SafeRun-RunPlanning-Benchmarkhuggingface.