Abstract:Translating natural-language planning intent into verified plans is a longstanding challenge: people communicate goals in language, while classical planners require formal PDDL specifications. Recent agentic frameworks bridge this gap by orchestrating a pool of specialized repair agents inside a verifier-checked refinement loop, but the orchestrator at the centre is itself a prompted frontier LLM, paying a frontier-LLM API call at every refinement step. We present HALO (Hybrid Agent-Learned Orchestrator), which trains the orchestrator from refinement trajectories that an external verifier has certified as ending in valid plans, across 11 PDDL domains. HALO pairs a small QLoRA-tuned policy with three hardcoded rules for trivially decidable selections, and operates over an expanded 21-agent action space. Unlike approaches that prompt a frontier LLM at every step or learn an orchestrator from sparse end-of-episode rewards, our key observation is that the verifier already provides strong guidance: every accepted trajectory is a sequence of demonstrably correct (state, agent) decisions, directly usable as supervision. Across PlanBench, Natural Plan, and classical planning benchmarks, HALO matches or exceeds the GPT-5-mini prompted baseline on success rate, sits within three percentage points of the stronger Gemini-3-Flash prompted baseline, reduces orchestration cost by more than an order of magnitude (\$0.18 to \$0.004 per task against GPT-5-mini, roughly 45$\times$ cheaper; roughly 15$\times$ cheaper than Gemini-3-Flash), and cuts total LLM calls per episode by 40 to 50 percent.
From: Rajesh Mangannavar [view email]
[v1]
Fri, 19 Jun 2026 20:53:10 UTC (571 KB)
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