# On the Planning Abilities of Large Language Models : A Critical Investigation

arXiv: https://arxiv.org/abs/2305.15771 · HTML: https://mlsanity.com/paper/2305.15771/

## Key facts

- Cited by 312 papers in the map (data through 14 Oct 2026).
- Placed in Reasoning for agents, planning and code, one of 17 directions in LLM reasoning.
- Builds on 17 of its 40 references that are in the map.
- First posted on arXiv 25 May 2023.

## Placed in

- LLM reasoning / [Reasoning for agents, planning and code](https://mlsanity.com/lr/reasoning-for-agents-planning-and-code/)

## Builds on (most cited first, 17 of 17)

- [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)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [PaLM: Scaling Language Modeling with Pathways](https://mlsanity.com/paper/2204.02311/) (2022)
- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Beyond the Imitation Game: Quantifying and extrapolating the capabilities of language models](https://mlsanity.com/paper/2206.04615/) (2022)
- [CommonsenseQA: A Question Answering Challenge Targeting Commonsense Knowledge](https://mlsanity.com/paper/1811.00937/) (2018)
- [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)
- [Did Aristotle Use a Laptop? A Question Answering Benchmark with Implicit Reasoning Strategies](https://mlsanity.com/paper/2101.02235/) (2021)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [Towards Understanding and Mitigating Social Biases in Language Models](https://mlsanity.com/paper/2106.13219/) (2021)
- [Large Pre-trained Language Models Contain Human-like Biases of What is Right and Wrong to Do](https://mlsanity.com/paper/2103.11790/) (2021)
- [Translating Natural Language to Planning Goals with Large-Language Models](https://mlsanity.com/paper/2302.05128/) (2023)
- [On the Paradox of Learning to Reason from Data](https://mlsanity.com/paper/2205.11502/) (2022)

## Built on by (most cited first, 30 of 312)

- [A Survey on Evaluation of Large Language Models](https://mlsanity.com/paper/2307.03109/) (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)
- [To CoT or not to CoT? Chain-of-thought helps mainly on math and symbolic reasoning](https://mlsanity.com/paper/2409.12183/) (2024)
- [Many-Shot In-Context Learning](https://mlsanity.com/paper/2404.11018/) (2024)
- [LLMs Can't Plan, But Can Help Planning in LLM-Modulo Frameworks](https://mlsanity.com/paper/2402.01817/) (2024)
- [The pitfalls of next-token prediction](https://mlsanity.com/paper/2403.06963/) (2024)
- [Tree Search for Language Model Agents](https://mlsanity.com/paper/2407.01476/) (2024)
- [Stream of Search (SoS): Learning to Search in Language](https://mlsanity.com/paper/2404.03683/) (2024)
- [Multi-Step Reasoning with Large Language Models, a Survey](https://mlsanity.com/paper/2407.11511/) (2024)
- [On the Self-Verification Limitations of Large Language Models on Reasoning and Planning Tasks](https://mlsanity.com/paper/2402.08115/) (2024)
- [Beyond Autoregression: Discrete Diffusion for Complex Reasoning and Planning](https://mlsanity.com/paper/2410.14157/) (2024)
- [NATURAL PLAN: Benchmarking LLMs on Natural Language Planning](https://mlsanity.com/paper/2406.04520/) (2024)
- [Can Large Language Models Really Improve by Self-critiquing Their Own Plans?](https://mlsanity.com/paper/2310.08118/) (2023)
- [Multi-Agent Collaboration via Evolving Orchestration](https://mlsanity.com/paper/2505.19591/) (2025)
- [WorldCoder, a Model-Based LLM Agent: Building World Models by Writing Code and Interacting with the Environment](https://mlsanity.com/paper/2402.12275/) (2024)
- [Chain of Thoughtlessness? An Analysis of CoT in Planning](https://mlsanity.com/paper/2405.04776/) (2024)
- [Q*: Improving Multi-step Reasoning for LLMs with Deliberative Planning](https://mlsanity.com/paper/2406.14283/) (2024)
- [Efficient Reasoning Models: A Survey](https://mlsanity.com/paper/2504.10903/) (2025)
- [LLMs Still Can't Plan; Can LRMs? A Preliminary Evaluation of OpenAI's o1 on PlanBench](https://mlsanity.com/paper/2409.13373/) (2024)
- [Curriculum Reinforcement Learning from Easy to Hard Tasks Improves LLM Reasoning](https://mlsanity.com/paper/2506.06632/) (2025)
- [PlanGenLLMs: A Modern Survey of LLM Planning Capabilities](https://mlsanity.com/paper/2502.11221/) (2025)
- [Can Large Language Models Reason and Plan?](https://mlsanity.com/paper/2403.04121/) (2024)
- [Formal Mathematical Reasoning: A New Frontier in AI](https://mlsanity.com/paper/2412.16075/) (2024)
- [Open-Endedness is Essential for Artificial Superhuman Intelligence](https://mlsanity.com/paper/2406.04268/) (2024)
- [AutoHarness: improving LLM agents by automatically synthesizing a code harness](https://mlsanity.com/paper/2603.03329/) (2026)
- [SEAL: Steerable Reasoning Calibration of Large Language Models for Free](https://mlsanity.com/paper/2504.07986/) (2025)
- [Interpretable Contrastive Monte Carlo Tree Search Reasoning](https://mlsanity.com/paper/2410.01707/) (2024)
- [Unlocking the Capabilities of Thought: A Reasoning Boundary Framework to Quantify and Optimize Chain-of-Thought](https://mlsanity.com/paper/2410.05695/) (2024)
- [Plan-Then-Execute: An Empirical Study of User Trust and Team Performance When Using LLM Agents As A Daily Assistant](https://mlsanity.com/paper/2502.01390/) (2025)

## Abstract (arXiv)

Intrigued by the claims of emergent reasoning capabilities in LLMs trained on general web corpora, in this paper, we set out to investigate their planning capabilities. We aim to evaluate (1) the effectiveness of LLMs in generating plans autonomously in commonsense planning tasks and (2) the potential of LLMs in LLM-Modulo settings where they act as a source of heuristic guidance for external planners and verifiers. We conduct a systematic study by generating a suite of instances on domains similar to the ones employed in the International Planning Competition and evaluate LLMs in two distinct modes: autonomous and heuristic. Our findings reveal that LLMs' ability to generate executable plans autonomously is rather limited, with the best model (GPT-4) having an average success rate of ~12% across the domains. However, the results in the LLM-Modulo setting show more promise. In the LLM-Modulo setting, we demonstrate that LLM-generated plans can improve the search process for underlying sound planners and additionally show that external verifiers can help provide feedback on the generated plans and back-prompt the LLM for better plan generation.