The planning step produces a graph. The agent recursively decomposes nodes into sub-graphs until each leaf is an atomic executable unit — a single, self-contained action. Execution walks the graph: independent branches run in parallel, dependencies are respected, and when an action fails, only the affected sub-graph is repaired rather than the whole plan.

First formalized in arXiv:2607.01942 (July 2026), where a 7B–8B open model with ATG reportedly beat GPT-4 running ReAct on long-horizon interactive benchmarks.