As Expected? Efficient LLM Planning via Expectation-Observation Consistency Verification

Abstract

LLM planning often relies on reactive executors (e.g., ReAct) that generate a single action at each step to remain grounded in the latest observations, incurring substantial inference cost. Batched executors reduce this cost by predicting multiple actions in a single model invocation, yet they are prone to compounding errors, as intermediate observations are ignored. We propose an expectation-observation consistency verification (EOCV) mechanism for batched executors, preserving grounding while improving efficiency. The mechanism generates expectations of action outcomes and compares them with the resulting observations. Consistency permits continued execution, whereas mismatches trigger early termination and replanning from the current observation. Experiments on text-based and multimodal benchmarks across multiple backbones show broadly comparable average task performance between EOCV and reactive executors, with a 29-35% reduction in average weighted token usage. Moreover, the mechanism is model-agnostic and remains effective when integrated into state-of-the-art planners.