Fuzzy Categorical Planning: Autonomous Goal Satisfaction with Graded Semantic Constraints

Natural-language planning often involves vague predicates (e.g., suitable substitute, stable enough) whose satisfaction is inherently graded. Existing category-theoretic planners provide compositional structure and pullback-based hard-constraint verification, but treat applicability as crisp, forcing thresholding that collapses meaningful distinctions and cannot track quality degradation across multi-step plans. We propose Fuzzy Category-theoretic Planning (FCP), which annotates each action (morphism) with a degree in [0,1], composes plan quality via a t-norm Lukasiewicz, and retains crisp executability checks via pullback verification. FCP grounds graded applicability from language using an LLM with k-sample median aggregation and supports meeting-in-the-middle search using residuum-based backward requirements. We evaluate on (i) public PDDL3 preference/oversubscription benchmarks and (ii) RecipeNLG-Subs, a missing-substitute recipe-planning benchmark built from RecipeNLG with substitution candidates from Recipe1MSubs and FoodKG. FCP improves success and reduces hard-constraint violations on RecipeNLG-Subs compared to LLM-only and ReAct-style baselines, while remaining competitive with classical PDDL3 planners.