Code-Driven Planning in Grid Worlds with Large Language Models

TL;DR

This paper introduces an iterative programmatic planning framework using large language models to generate executable code policies for grid-world tasks, outperforming direct code generation methods and establishing new benchmarks.

Contribution

The paper presents a novel iterative refinement approach for code-based policy synthesis with LLMs, improving performance and efficiency over existing methods.

Findings

IPP improves performance by up to 10x over direct code generation.

IPP achieves state-of-the-art results on the GRASP benchmark.

Reusing generated code reduces costs significantly.

Abstract

We propose an iterative programmatic planning (IPP) framework for solving grid-based tasks by synthesizing interpretable agent policies expressed in code using large language models (LLMs). Instead of relying on traditional search or reinforcement learning, our approach uses code generation as policy synthesis, where the LLM outputs executable programs that map environment states to action sequences. Our proposed architecture incorporates several prompting strategies, including direct code generation, pseudocode-conditioned refinement, and curriculum-based prompting, but also includes an iterative refinement mechanism that updates code based on task performance feedback. We evaluate our approach using six leading LLMs and two challenging grid-based benchmarks (GRASP and MiniGrid). Our IPP framework demonstrates improvements over direct code generation ranging from 10\% to as much as 10x across five of the six models and establishes a new state-of-the-art result for GRASP. IPP is found to significantly outperform direct elicitation of a solution from GPT-o3-mini (by 63\% on MiniGrid to 116\% on GRASP), demonstrating the viability of the overall approach. Computational costs of all code generation approaches are similar. While code generation has a higher initial prompting cost compared to direct solution elicitation (\$0.08 per task vs. \$0.002 per instance for GPT-o3-mini), the code can be reused for any number of instances, making the amortized cost significantly lower (by 400x on GPT-o3-mini across the complete GRASP benchmark).