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Research paperReasoning & Planning · Reinforcement Learning · Robotics & Embodied AI1 source · Oct 7, 2026

Plan-and-Patch: Diffusion Language Models for Agentic Planning

We introduce Plan-and-Patch, a plan-and-act framework in which a diffusion language model (dLLM) generates a structured, program-like plan through parallel unmasking and repairs it by filling in selected regions while keeping the surrounding steps fixed.

Key points

  • Planning is increasingly important for long-horizon agents, where successful execution requires coordinating subgoals, tool use, and intermediate outcomes over many steps.
  • We compare DreamReasoner-8B and Qwen3-8B as diffusion and autoregressive (AR) planners.
  • After task-specific training on agentic benchmarks, ALFWorld and TextCraft, the planners achieve similar observed success in plan generation, while diffusion reduces mean plan-generation latency by 39-46% relative to AR.
  • Our results show that Plan-and-Patch provides a framework for faster plan generation and effective plan repair in long-horizon agents.

Sources (1)

  • [1]Plan-and-Patch: Diffusion Language Models for Agentic Planning
    arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 7, 06:45 PM
    We introduce Plan-and-Patch, a plan-and-act framework in which a diffusion language model (dLLM) generates a structured, program-like plan through parallel unmasking and repairs it by filling in selected regions while keeping the surrounding steps fixed.
    Planning is increasingly important for long-horizon agents, where successful execution requires coordinating subgoals, tool use, and intermediate outcomes over many steps.

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