LOOP: A Plug-and-Play Neuro-Symbolic Framework for Enhancing Planning in Autonomous Systems

Abstract

Planning is one of the most critical tasks in autonomous systems, where even a small error can lead to major failures or million-dollar losses. Current state-of-the-art neural planning approaches struggle with complex domains, producing plans with missing preconditions, inconsistent goals, and hallucinations. While classical planners provide logical guarantees, they lack the flexibility and natural language understanding capabilities needed for modern autonomous systems. Existing neuro-symbolic approaches use one-shot translation from natural language to formal plans, missing the opportunity for neural and symbolic components to work and refine solutions together. To address this gap, we develop LOOP -- a novel neuro-symbolic planning framework that treats planning as an iterative conversation between neural and symbolic components rather than simple translation. LOOP integrates 13 coordinated neural features including graph neural networks for spatial relationships, multi-agent validation for consensus-based correctness, hierarchical decomposition for complex task management, and causal memory that learns from both successes and failures. Unlike existing approaches, LOOP generates PDDL specifications, refines them iteratively based on symbolic feedback, and builds a causal knowledge base from execution traces. LOOP was evaluated on six standard IPC benchmark domains, where it achieved 85.8% success rate compared to LLM+P (55.0%), LLM-as-Planner (19.2%), and Tree-of-Thoughts (3.3%). This work shows that the key to reliable planning is not in choosing between neural networks or symbolic reasoners but it lies in making them actually ``talk'' to each other during the entire process. LOOP provides a thorough blueprint for building autonomous systems that can finally be trusted with critical real-world applications.