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Procedural Graphs: Self-Evolving Execution Structures for LLM Agents

arXiv · AI, language, vision and robotics · article · Sep 8, 2026 · UTC

Large language models are increasingly deployed as agents that plan over long horizons and act through external tools. Most agents select actions through unconstrained generation over an accumulating history, leaving implicit the procedural knowledge of what to do, in what order, and under which conditions. As trajectories lengthen, agents can lose track of their objectives, invoke tools out of order, and repeat unproductive actions. We introduce the Procedural Graph: just as a knowledge graph organizes factual knowledge into (entity, relation, entity) triplets for what-is questions, a Procedu

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