# PlaSma: Making Small Language Models Better Procedural Knowledge Models for (Counterfactual) Planning

arXiv: https://arxiv.org/abs/2305.19472 · HTML: https://mlsanity.com/paper/2305.19472/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 48 references that are in the map.
- First posted on arXiv 31 May 2023.

## Builds on (most cited first, 30 of 32)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformer](https://mlsanity.com/paper/1910.10683/) (2019)
- [RoBERTa: A Robustly Optimized BERT Pretraining Approach](https://mlsanity.com/paper/1907.11692/) (2019)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [BERTScore: Evaluating Text Generation with BERT](https://mlsanity.com/paper/1904.09675/) (2019)
- [Finetuned Language Models Are Zero-Shot Learners](https://mlsanity.com/paper/2109.01652/) (2021)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Fantastically Ordered Prompts and Where to Find Them: Overcoming Few-Shot Prompt Order Sensitivity](https://mlsanity.com/paper/2104.08786/) (2021)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [GeDi: Generative Discriminator Guided Sequence Generation](https://mlsanity.com/paper/2009.06367/) (2020)
- [FUDGE: Controlled Text Generation With Future Discriminators](https://mlsanity.com/paper/2104.05218/) (2021)
- [True Few-Shot Learning with Language Models](https://mlsanity.com/paper/2105.11447/) (2021)
- [Symbolic Knowledge Distillation: from General Language Models to Commonsense Models](https://mlsanity.com/paper/2110.07178/) (2021)
- [The GEM Benchmark: Natural Language Generation, its Evaluation and Metrics](https://mlsanity.com/paper/2102.01672/) (2021)
- [Lexically Constrained Decoding for Sequence Generation Using Grid Beam Search](https://mlsanity.com/paper/1704.07138/) (2017)
- [Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning](https://mlsanity.com/paper/2305.14909/) (2023)
- [COLD Decoding: Energy-based Constrained Text Generation with Langevin Dynamics](https://mlsanity.com/paper/2202.11705/) (2022)
- [Language Models of Code are Few-Shot Commonsense Learners](https://mlsanity.com/paper/2210.07128/) (2022)
- [NeuroLogic A*esque Decoding: Constrained Text Generation with Lookahead Heuristics](https://mlsanity.com/paper/2112.08726/) (2021)
- [NeuroLogic Decoding: (Un)supervised Neural Text Generation with Predicate Logic Constraints](https://mlsanity.com/paper/2010.12884/) (2020)
- [Controlled Text Generation as Continuous Optimization with Multiple Constraints](https://mlsanity.com/paper/2108.01850/) (2021)
- [Back to the Future: Unsupervised Backprop-based Decoding for Counterfactual and Abductive Commonsense Reasoning](https://mlsanity.com/paper/2010.05906/) (2020)
- [Structured, flexible, and robust: benchmarking and improving large language models towards more human-like behavior in out-of-distribution reasoning tasks](https://mlsanity.com/paper/2205.05718/) (2022)
- [Distilling Script Knowledge from Large Language Models for Constrained Language Planning](https://mlsanity.com/paper/2305.05252/) (2023)
- [Visually-Grounded Planning without Vision: Language Models Infer Detailed Plans from High-level Instructions](https://mlsanity.com/paper/2009.14259/) (2020)
- [Symbols as a Lingua Franca for Bridging Human-AI Chasm for Explainable and Advisable AI Systems](https://mlsanity.com/paper/2109.09904/) (2021)
- [Neuro-Symbolic Procedural Planning with Commonsense Prompting](https://mlsanity.com/paper/2206.02928/) (2022)
- [What do Large Language Models Learn about Scripts?](https://mlsanity.com/paper/2112.13834/) (2021)
- [Understanding Multimodal Procedural Knowledge by Sequencing Multimodal Instructional Manuals](https://mlsanity.com/paper/2110.08486/) (2021)

## Built on by (most cited first, 4 of 4)

- [Scaling of Search and Learning: A Roadmap to Reproduce o1 from Reinforcement Learning Perspective](https://mlsanity.com/paper/2412.14135/) (2024)
- [Can Large Language Models Unlock Novel Scientific Research Ideas?](https://mlsanity.com/paper/2409.06185/) (2024)
- [ALAS: Transactional and Dynamic Multi-Agent LLM Planning](https://mlsanity.com/paper/2511.03094/) (2025)
- [Guiding Through Complexity: What Makes Good Supervision for Hard Math Reasoning Tasks?](https://mlsanity.com/paper/2410.20533/) (2024)

## Abstract (arXiv)

Procedural planning, which entails decomposing a high-level goal into a sequence of temporally ordered steps, is an important yet intricate task for machines. It involves integrating common-sense knowledge to reason about complex and often contextualized situations, e.g. ``scheduling a doctor's appointment without a phone''. While current approaches show encouraging results using large language models (LLMs), they are hindered by drawbacks such as costly API calls and reproducibility issues. In this paper, we advocate planning using smaller language models. We present PlaSma, a novel two-pronged approach to endow small language models with procedural knowledge and (constrained) language planning capabilities. More concretely, we develop symbolic procedural knowledge distillation to enhance the commonsense knowledge in small language models and an inference-time algorithm to facilitate more structured and accurate reasoning. In addition, we introduce a new related task, Replanning, that requires a revision of a plan to cope with a constrained situation. In both the planning and replanning settings, we show that orders-of-magnitude smaller models (770M-11B parameters) can compete and often surpass their larger teacher models' capabilities. Finally, we showcase successful application of PlaSma in an embodied environment, VirtualHome.