# Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents

arXiv: https://arxiv.org/abs/2302.01560 · HTML: https://mlsanity.com/paper/2302.01560/

## Key facts

- Cited by 398 papers in the map (data through 14 Oct 2026).
- Placed in General LLM agent frameworks and benchmarks, one of 16 directions in LLM agents and tool use.
- Builds on 36 of its 66 references that are in the map.
- First posted on arXiv 3 Feb 2023.

## Placed in

- LLM agents and tool use / [General LLM agent frameworks and benchmarks](https://mlsanity.com/agents/general-llm-agent-frameworks-and-benchmarks/)

## Builds on (most cited first, 30 of 36)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Sentence-BERT: Sentence Embeddings using Siamese BERT-Networks](https://mlsanity.com/paper/1908.10084/) (2019)
- [Evaluating Large Language Models Trained on Code](https://mlsanity.com/paper/2107.03374/) (2021)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [OPT: Open Pre-trained Transformer Language Models](https://mlsanity.com/paper/2205.01068/) (2022)
- [Playing Atari with Deep Reinforcement Learning](https://mlsanity.com/paper/1312.5602/) (2013)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [BLOOM: A 176B-Parameter Open-Access Multilingual Language Model](https://mlsanity.com/paper/2211.05100/) (2022)
- [Rethinking the Role of Demonstrations: What Makes In-Context Learning Work?](https://mlsanity.com/paper/2202.12837/) (2022)
- [Mastering Diverse Domains through World Models](https://mlsanity.com/paper/2301.04104/) (2023)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [A Generalist Agent](https://mlsanity.com/paper/2205.06175/) (2022)
- [CLIPort: What and Where Pathways for Robotic Manipulation](https://mlsanity.com/paper/2109.12098/) (2021)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language](https://mlsanity.com/paper/2204.00598/) (2022)
- [MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge](https://mlsanity.com/paper/2206.08853/) (2022)
- [The Option-Critic Architecture](https://mlsanity.com/paper/1609.05140/) (2016)
- [Video PreTraining (VPT): Learning to Act by Watching Unlabeled Online Videos](https://mlsanity.com/paper/2206.11795/) (2022)
- [SQA3D: Situated Question Answering in 3D Scenes](https://mlsanity.com/paper/2210.07474/) (2022)
- [MineRL: A Large-Scale Dataset of Minecraft Demonstrations](https://mlsanity.com/paper/1907.13440/) (2019)
- [Zero-Shot Task Generalization with Multi-Task Deep Reinforcement Learning](https://mlsanity.com/paper/1706.05064/) (2017)
- [Collaborating with language models for embodied reasoning](https://mlsanity.com/paper/2302.00763/) (2023)
- [The MineRL 2020 Competition on Sample Efficient Reinforcement Learning using Human Priors](https://mlsanity.com/paper/2101.11071/) (2021)

## Built on by (most cited first, 30 of 398)

- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [A Survey on Large Language Model based Autonomous Agents](https://mlsanity.com/paper/2308.11432/) (2023)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [The Rise and Potential of Large Language Model Based Agents: A Survey](https://mlsanity.com/paper/2309.07864/) (2023)
- [AgentBench: Evaluating LLMs as Agents](https://mlsanity.com/paper/2308.03688/) (2023)
- [Graph of Thoughts: Solving Elaborate Problems with Large Language Models](https://mlsanity.com/paper/2308.09687/) (2023)
- [WorldSimBench: Towards Video Generation Models as World Simulators](https://mlsanity.com/paper/2410.18072/) (2024)
- [Executable Code Actions Elicit Better LLM Agents](https://mlsanity.com/paper/2402.01030/) (2024)
- [Plan-and-Solve Prompting: Improving Zero-Shot Chain-of-Thought Reasoning by Large Language Models](https://mlsanity.com/paper/2305.04091/) (2023)
- [Promptbreeder: Self-Referential Self-Improvement Via Prompt Evolution](https://mlsanity.com/paper/2309.16797/) (2023)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [Augmented Language Models: a Survey](https://mlsanity.com/paper/2302.07842/) (2023)
- [Language Models can Solve Computer Tasks](https://mlsanity.com/paper/2303.17491/) (2023)
- [An Embodied Generalist Agent in 3D World](https://mlsanity.com/paper/2311.12871/) (2023)
- [A Real-World WebAgent with Planning, Long Context Understanding, and Program Synthesis](https://mlsanity.com/paper/2307.12856/) (2023)
- [Tool Learning with Foundation Models](https://mlsanity.com/paper/2304.08354/) (2023)
- [Ghost in the Minecraft: Generally Capable Agents for Open-World Environments via Large Language Models with Text-based Knowledge and Memory](https://mlsanity.com/paper/2305.17144/) (2023)
- [A Survey on Knowledge Distillation of Large Language Models](https://mlsanity.com/paper/2402.13116/) (2024)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [ToolQA: A Dataset for LLM Question Answering with External Tools](https://mlsanity.com/paper/2306.13304/) (2023)
- [Challenges and Applications of Large Language Models](https://mlsanity.com/paper/2307.10169/) (2023)
- [Building Cooperative Embodied Agents Modularly with Large Language Models](https://mlsanity.com/paper/2307.02485/) (2023)
- [Data Interpreter: An LLM Agent For Data Science](https://mlsanity.com/paper/2402.18679/) (2024)
- [Text2Motion: From Natural Language Instructions to Feasible Plans](https://mlsanity.com/paper/2303.12153/) (2023)
- [EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agents](https://mlsanity.com/paper/2502.09560/) (2025)
- [From Persona to Personalization: A Survey on Role-Playing Language Agents](https://mlsanity.com/paper/2404.18231/) (2024)
- [Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning](https://mlsanity.com/paper/2305.14909/) (2023)
- [OS-Copilot: Towards Generalist Computer Agents with Self-Improvement](https://mlsanity.com/paper/2402.07456/) (2024)
- [OpenAGI: When LLM Meets Domain Experts](https://mlsanity.com/paper/2304.04370/) (2023)

## Abstract (arXiv)

We investigate the challenge of task planning for multi-task embodied agents in open-world environments. Two main difficulties are identified: 1) executing plans in an open-world environment (e.g., Minecraft) necessitates accurate and multi-step reasoning due to the long-term nature of tasks, and 2) as vanilla planners do not consider how easy the current agent can achieve a given sub-task when ordering parallel sub-goals within a complicated plan, the resulting plan could be inefficient or even infeasible. To this end, we propose "underlineDescribe, underlineExplain, underlinePlan and underlineSelect" (DEPS), an interactive planning approach based on Large Language Models (LLMs). DEPS facilitates better error correction on initial LLM-generated textitplan by integrating textitdescription of the plan execution process and providing self-textitexplanation of feedback when encountering failures during the extended planning phases. Furthermore, it includes a goal textitselector, which is a trainable module that ranks parallel candidate sub-goals based on the estimated steps of completion, consequently refining the initial plan. Our experiments mark the milestone of the first zero-shot multi-task agent that can robustly accomplish 70+ Minecraft tasks and nearly double the overall performances. Further testing reveals our method's general effectiveness in popularly adopted non-open-ended domains as well (i.e., ALFWorld and tabletop manipulation). The ablation and exploratory studies detail how our design beats the counterparts and provide a promising update on the textttObtainDiamond grand challenge with our approach. The code is released at https://github.com/CraftJarvis/MC-Planner.