Repair of incorrect LLM action-sequence topology

Develop a method that enables the world-model-grounded LLM planner to repair a genuinely incorrect topological choice in a fixed macro-action skeleton rather than only adjusting the durations of its actions.

Background

The planner receives an ordered macro-action skeleton from the LLM and optimizes only the duration assigned to each macro-action. This continuous optimization can correct timing and, in some cases, make a detour collision-free, but it cannot insert, remove, or reorder actions when the proposed sequence has the wrong topological structure.

The paper identifies this inability as a shared failure mode for both the AUV and ASV systems. Although the experiments did not require topological repair in the ASV and the optimizer successfully resolved the observed AUV cases, the authors explicitly leave recovery from genuinely incorrect topological choices unresolved.

References

In neither case can the optimizer recover from a genuinely wrong topological choice; it only adjusts durations within the fixed skeleton, so this remains the shared open failure mode (Section~\ref{sec:conclusion}).

— World-Model-Grounded LLM Planning for AUV and ASV Navigation Near Offshore Wind Farms  (2608.19661 - Buchholz et al., 20 Aug 2026) in Section V, subsection “Skeleton-Topology Failure Mode”