Meta-Ctrl: Guaranteed Plan Generation by Decoupling Syntactic and Semantic Constraints
Read the original on arXiv AI →Meta-Ctrl is a constrained‑decoding framework that guarantees syntactic and semantic constraints in robot plans generated by large language models. It introduces meta‑tokens—a compact vocabulary of grounded actions—to enforce syntax at the token level and semantics (preconditions, goals, ordering) at the action level, dramatically reducing memory usage from over 107 TB to under 2 GB. The approach enables a small open‑weight LM to outperform GPT‑4 on subgoal success rates in the WAH‑NL LoTa‑Bench protocol and consistently improves performance on the Embodied Agent Interface, while real‑world tabletop robot experiments show every plan satisfies its preconditions and goals by construction.
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