ResearchBenchmarksAutomated Planning on Zenotravel 12 tasksFollow48Grounded ActionsSPG-LLM34.84123.67212.5301.33Feb 25, 2026Evaluation ResultsMethodMethodLinksGrounded ActionsGrounding TimePlan CostSolving TimeSPG-LLMGrounding Method=SPGGrounding Method=SPG2026.02483.1493.2371.3FGGrounding Method=FGGrounding Method=FG2026.0224319.14571,154.2PLOIGrounding Method=PLOIGrounding Method=PLOI2026.023778.47,389.6719