# On the Roles of LLMs in Planning: Embedding LLMs into Planning Graphs

arXiv: https://arxiv.org/abs/2403.00783 · HTML: https://mlsanity.com/paper/2403.00783/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 47 references that are in the map.
- First posted on arXiv 18 Feb 2024.

## Builds on (most cited first, 29 of 29)

- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [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)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [HuggingGPT: Solving AI Tasks with ChatGPT and its Friends in Hugging Face](https://mlsanity.com/paper/2303.17580/) (2023)
- [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)
- [Reasoning with Language Model is Planning with World Model](https://mlsanity.com/paper/2305.14992/) (2023)
- [A Generalist Agent](https://mlsanity.com/paper/2205.06175/) (2022)
- [Distilling Step-by-Step! Outperforming Larger Language Models with Less Training Data and Smaller Model Sizes](https://mlsanity.com/paper/2305.02301/) (2023)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents](https://mlsanity.com/paper/2302.01560/) (2023)
- [Chameleon: Plug-and-Play Compositional Reasoning with Large Language Models](https://mlsanity.com/paper/2304.09842/) (2023)
- [On the Planning Abilities of Large Language Models : A Critical Investigation](https://mlsanity.com/paper/2305.15771/) (2023)
- [Large Language Models as Commonsense Knowledge for Large-Scale Task Planning](https://mlsanity.com/paper/2305.14078/) (2023)
- [Pre-Trained Language Models for Interactive Decision-Making](https://mlsanity.com/paper/2202.01771/) (2022)
- [Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning](https://mlsanity.com/paper/2305.14909/) (2023)
- [AdaPlanner: Adaptive Planning from Feedback with Language Models](https://mlsanity.com/paper/2305.16653/) (2023)
- [Planning with Large Language Models for Code Generation](https://mlsanity.com/paper/2303.05510/) (2023)
- [Distilling Reasoning Capabilities into Smaller Language Models](https://mlsanity.com/paper/2212.00193/) (2022)
- [Generalized Planning in PDDL Domains with Pretrained Large Language Models](https://mlsanity.com/paper/2305.11014/) (2023)
- [Compositional Foundation Models for Hierarchical Planning](https://mlsanity.com/paper/2309.08587/) (2023)
- [Less is More: Task-aware Layer-wise Distillation for Language Model Compression](https://mlsanity.com/paper/2210.01351/) (2022)
- [Gradient-Based Mixed Planning with Symbolic and Numeric Action Parameters](https://mlsanity.com/paper/2110.10007/) (2021)

## Built on by (most cited first, 1 of 1)

- [AIPOM: Agent-aware Interactive Planning for Multi-Agent Systems](https://mlsanity.com/paper/2509.24826/) (2025)

## Abstract (arXiv)

Plan synthesis aims to generate a course of actions or policies to transit given initial states to goal states, provided domain models that could be designed by experts or learnt from training data or interactions with the world. Intrigued by the claims of emergent planning capabilities in large language models (LLMs), works have been proposed to investigate the planning effectiveness of LLMs, without considering any utilization of off-the-shelf planning techniques in LLMs. In this paper, we aim to further study the insight of the planning capability of LLMs by investigating the roles of LLMs in off-the-shelf planning frameworks. To do this, we investigate the effectiveness of embedding LLMs into one of the well-known planning frameworks, graph-based planning, proposing a novel LLMs-based planning framework with LLMs embedded in two levels of planning graphs, i.e., mutual constraints generation level and constraints solving level. We empirically exhibit the effectiveness of our proposed framework in various planning domains.