# RELIC: Revealed Principles for Learning Interpretable Composable Skills in Multi-Agent Planning

arXiv: https://arxiv.org/abs/2607.16745 · HTML: https://mlsanity.com/paper/2607.16745/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Agent skill learning and evolution, one of 16 directions in LLM agents and tool use.
- Builds on 23 of its 34 references that are in the map.
- First posted on arXiv 18 Jul 2026.

## Placed in

- LLM agents and tool use / [Agent skill learning and evolution](https://mlsanity.com/agents/agent-skill-learning-and-evolution/)

## Builds on (most cited first, 23 of 23)

- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [ReEvo: Large Language Models as Hyper-Heuristics with Reflective Evolution](https://mlsanity.com/paper/2402.01145/) (2024)
- [Evolution of Heuristics: Towards Efficient Automatic Algorithm Design Using Large Language Model](https://mlsanity.com/paper/2401.02051/) (2024)
- [Generalized Planning in PDDL Domains with Pretrained Large Language Models](https://mlsanity.com/paper/2305.11014/) (2023)
- [Monte Carlo Tree Search for Comprehensive Exploration in LLM-Based Automatic Heuristic Design](https://mlsanity.com/paper/2501.08603/) (2025)
- [EvoSkill: Automated Skill Discovery for Multi-Agent Systems](https://mlsanity.com/paper/2603.02766/) (2026)
- [AgentNet: Decentralized Evolutionary Coordination for LLM-based Multi-Agent Systems](https://mlsanity.com/paper/2504.00587/) (2025)
- [Bootstrap Your Own Skills: Learning to Solve New Tasks with Large Language Model Guidance](https://mlsanity.com/paper/2310.10021/) (2023)
- [SkillX: Automatically Constructing Skill Knowledge Bases for Agents](https://mlsanity.com/paper/2604.04804/) (2026)
- [Graph-of-Skills: Dependency-Aware Structural Retrieval for Massive Agent Skills](https://mlsanity.com/paper/2604.05333/) (2026)
- [EoH-S: Evolution of Heuristic Set using LLMs for Automated Heuristic Design](https://mlsanity.com/paper/2508.03082/) (2025)
- [ITINERA: Integrating Spatial Optimization with Large Language Models for Open-domain Urban Itinerary Planning](https://mlsanity.com/paper/2402.07204/) (2024)
- [DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models](https://mlsanity.com/paper/2404.03275/) (2024)
- [To the Globe (TTG): Towards Language-Driven Guaranteed Travel Planning](https://mlsanity.com/paper/2410.16456/) (2024)
- [Leveraging Environment Interaction for Automated PDDL Translation and Planning with Large Language Models](https://mlsanity.com/paper/2407.12979/) (2024)
- [Efficient Informative Sensing using Multiple Robots](https://mlsanity.com/paper/1401.3462/) (2014)
- [HiFo-Prompt: Prompting with Hindsight and Foresight for LLM-based Automatic Heuristic Design](https://mlsanity.com/paper/2508.13333/) (2025)
- [UrbanLLM: Autonomous Urban Activity Planning and Management with Large Language Models](https://mlsanity.com/paper/2406.12360/) (2024)
- [Learning from Offline and Online Experiences: A Hybrid Adaptive Operator Selection Framework](https://mlsanity.com/paper/2404.10252/) (2024)
- [MOTIF: Multi-strategy Optimization via Turn-based Interactive Framework](https://mlsanity.com/paper/2508.03929/) (2025)
- [LLM-GROP: Visually Grounded Robot Task and Motion Planning with Large Language Models](https://mlsanity.com/paper/2511.07727/) (2025)
- [Offline Discovery of Interpretable Skills from Multi-Task Trajectories](https://mlsanity.com/paper/2602.01018/) (2026)

## Abstract (arXiv)

Multi-agent planning becomes substantially harder when agents must improve specialized decision-making skills while keeping their executable implementations private. This setting arises when independently developed agents expose heterogeneous interfaces, observations, and capabilities, yet must coordinate under a shared team objective. Existing approaches commonly rely on centralized optimization, shared policy access, or common skill representations, assumptions that limit knowledge reuse when function signatures differ. We introduce RELIC, a framework for learning interpretable and composable programmatic skills through revealed principles. Each agent improves its own executable skill locally, while useful decision logic and coordination patterns are distilled into compact textual principles. Rather than requiring direct program exchange, these abstractions can be re-instantiated under agent-specific interfaces and reused across incompatible implementation spaces. A shared principle memory accumulates transferable knowledge and promotes abstractions that repeatedly improve team-level performance. This separation allows discoveries made by one agent to guide others while preserving local executable implementations and decentralized execution. RELIC therefore supports strategic transfer across both heterogeneous-role and shared-role cooperative teams. Extensive experiments across routing, scheduling, combinatorial optimization, and distributed coordination settings demonstrate RELIC's effectiveness against independent and joint LLM-based search methods, together with consistent benefits across task structures and LLM backbones.