Abstract
Agent tasks require sequences of interdependent decisions. Autoregressive models support more flexible decision interfaces than conventional classifiers but incur the latency of token-by-token generation. Recent shared-prefix methods reduce this cost by reusing encoded context and scoring multiple decisions in parallel, but do not model decision dependencies or verify execution. We propose SharedKV-BT, where each active node of a behavior tree (BT) exposes stage-local fields and candidates, and Shared-KV scores the candidates in parallel and passes the selected decision to a separate execution system. We tested SharedKV-BT on robot manipulation, mobile navigation, and computer-use tasks. Across three tasks, SharedKV-BT made typed decisions 2.36-4.15 times faster than prompt-matched autoregressive decoding. On the manipulation task, node-local Shared-KV improved joint decision accuracy from 75% to 94% and closed-loop success from 0% to 60%. Fixed-score policy replay showed that stage gating prevented out-of-order actions and external postconditions prevented premature completion.
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Publication details
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Cite this article
APA 7
Wake, N., & Wagle, J. (2026). SharedKV-BT: Node-Local Typed Decisions for Behavior-Tree Agents. https://omanscience.com/en/articles/sharedkv-bt-node-local-typed-decisions-for-behavior-tree-agents
MLA 9
Wake, Naoki, and Justin Wagle. "SharedKV-BT: Node-Local Typed Decisions for Behavior-Tree Agents." https://omanscience.com/en/articles/sharedkv-bt-node-local-typed-decisions-for-behavior-tree-agents.
Chicago (author–date)
Wake, Naoki, and Justin Wagle. 2026. "SharedKV-BT: Node-Local Typed Decisions for Behavior-Tree Agents." https://omanscience.com/en/articles/sharedkv-bt-node-local-typed-decisions-for-behavior-tree-agents.
Harvard
Wake, N. and Wagle, J. (2026) 'SharedKV-BT: Node-Local Typed Decisions for Behavior-Tree Agents', Available at: https://omanscience.com/en/articles/sharedkv-bt-node-local-typed-decisions-for-behavior-tree-agents.
Vancouver
Wake N, Wagle J. SharedKV-BT: Node-Local Typed Decisions for Behavior-Tree Agents. https://omanscience.com/en/articles/sharedkv-bt-node-local-typed-decisions-for-behavior-tree-agents
IEEE
N. Wake, and J. Wagle, "SharedKV-BT: Node-Local Typed Decisions for Behavior-Tree Agents," https://omanscience.com/en/articles/sharedkv-bt-node-local-typed-decisions-for-behavior-tree-agents.