A planning graph links actions to required facts and resulting facts, including conflicts. It helps reject attractive plans whose actions cannot legally or physically occur.

Planning Graphs Expose Preconditions and Effects

Synthesizing an agent graph means generating topology and node contracts from goals, capabilities, and constraints. Search should reject invalid designs and compare candidates with execution evidence.

Automated Graph Synthesis Is Constrained Program Generation

A formal tool contract specifies preconditions, postconditions, side effects, failure modes, and authority. Planners can compose tools only when one action establishes the next action's needs.

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