RPMS: Enhancing LLM-Based Embodied Planning through Rule-Augmented Memory Synergy

Computer Science > Artificial Intelligence [Submitted on 18 Mar 2026] RPMS: Enhancing LLM-Based Embodied Planning through Rule-Augmented Memory Synergy Zhenhang Yuan, Shenghai Yuan, Lihua Xie LLM agents often fail in closed-world embodied environments because actions must satisfy strict preconditions -- such as location, inventory, and container states -- and failure feedback is sparse. We identify two structurally coupled failure modes: (P1) invalid action generation and (P2) state drift, each amplifying the other in a degenerative cycle. We present RPMS, a conflict-managed architecture that enforces action feasibility via structured rule retrieval, gates memory applicability via a lightweight belief state, and resolves conflicts between the two sources via rules-first arbitration. On ALFWorld (134 unseen tasks), RPMS achieves 59.7% single-trial success with Llama 3.1 8B (+23.9 pp over baseline) and 98.5% with Claude Sonnet 4.5 (+11.9 pp); of the 8B gain, rule retrieval alone contributes +14.9 pp (statistically significant), making it the dominant factor. A key finding is that episodic memory is conditionally useful: it harms performance on some task types when used without grounding, but becomes a stable net positive once filtered by current state and constrained by explicit action rules. Adapting RPMS to ScienceWorld with GPT-4 yields consistent gains across all ablation conditions (avg. score 54.0 vs. 44.9 for the ReAct baseline), providing transfer evidence that the core mechanisms hold across structurally distinct environments. Subjects: Artificial Intelligence (cs.AI) Cite as: arXiv:2603.17831 [cs.AI]   (or arXiv:2603.17831v1 [cs.AI] for this version)   https://doi.org/10.48550/arXiv.2603.17831 Focus to learn more Submission history From: Zhenhang Yuan [view email] [v1] Wed, 18 Mar 2026 15:26:00 UTC (2,302 KB) Access Paper: HTML (experimental) view license Current browse context: cs.AI < prev   |   next > new | recent | 2026-03 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Export BibTeX Citation Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Demos Related Papers About arXivLabs Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)