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arXiv · 2610.39319

ProLoop: Progress-Aware Closed-Loop Framework via Structured State Relations for Long-Horizon Robotic Task Planning

Runxin Zou·Qingmiao Liang·Jiatao Zhang·Xinyan Lv·Liangyu Qie·Meiyi Bu·Wei Song·Shiqiang Zhu
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Abstract

Long-horizon robotic tasks are commonly decomposed into semantic subgoals to simplify planning. However, subgoal progress in LLM-based planning is typically inferred implicitly from interaction histories. Inaccurate estimates can misguide execution and allow local errors to propagate. To address this, we propose ProLoop, a Progress-Aware Closed-Loop framework that derives explicit subgoal progress from structured relations between desired and execution states. A learned State-Relation Monitor assesses these relations, which are then aggregated into subgoal progress as ongoing, deviated, or completed. The resulting progress guides execution adaptation, enabling reliable progress-aware control throughout execution. Experiments on AgentBoard ALFWorld and a real-world robotic platform show that ProLoop improves success rate by 12.94% overall and by 15.46% on Hard tasks, while reducing environment interactions by 32.3%.

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Runxin Zou, Qingmiao Liang, Jiatao Zhang, Xinyan Lv, Liangyu Qie, Meiyi Bu, Wei Song, Shiqiang Zhu. 2026-10-29. ProLoop: Progress-Aware Closed-Loop Framework via Structured State Relations for Long-Horizon Robotic Task Planning. https://arxiv.org/abs/2610.39319

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