# Unlocking Large Language Model's Planning Capabilities with Maximum Diversity Fine-tuning

arXiv: https://arxiv.org/abs/2406.10479 · HTML: https://mlsanity.com/paper/2406.10479/

## Key facts

- Cited by 6 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 20 of its 33 references that are in the map.
- First posted on arXiv 15 Jun 2024.

## 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, 20 of 20)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [RoBERTa: A Robustly Optimized BERT Pretraining Approach](https://mlsanity.com/paper/1907.11692/) (2019)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [Sentence-BERT: Sentence Embeddings using Siamese BERT-Networks](https://mlsanity.com/paper/1908.10084/) (2019)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [LIMA: Less Is More for Alignment](https://mlsanity.com/paper/2305.11206/) (2023)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [Universal Sentence Encoder](https://mlsanity.com/paper/1803.11175/) (2018)
- [PlanBench: An Extensible Benchmark for Evaluating Large Language Models on Planning and Reasoning about Change](https://mlsanity.com/paper/2206.10498/) (2022)
- [On the Planning Abilities of Large Language Models : A Critical Investigation](https://mlsanity.com/paper/2305.15771/) (2023)
- [Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning](https://mlsanity.com/paper/2305.14909/) (2023)
- [LLMs Can't Plan, But Can Help Planning in LLM-Modulo Frameworks](https://mlsanity.com/paper/2402.01817/) (2024)
- [AttnLRP: Attention-Aware Layer-Wise Relevance Propagation for Transformers](https://mlsanity.com/paper/2402.05602/) (2024)
- [Long Is More for Alignment: A Simple but Tough-to-Beat Baseline for Instruction Fine-Tuning](https://mlsanity.com/paper/2402.04833/) (2024)
- [Planning with Learned Object Importance in Large Problem Instances using Graph Neural Networks](https://mlsanity.com/paper/2009.05613/) (2020)
- [Skill Reinforcement Learning and Planning for Open-World Long-Horizon Tasks](https://mlsanity.com/paper/2303.16563/) (2023)
- [Generalized Planning With Deep Reinforcement Learning](https://mlsanity.com/paper/2005.02305/) (2020)
- [Understanding the Capabilities of Large Language Models for Automated Planning](https://mlsanity.com/paper/2305.16151/) (2023)

## Built on by (most cited first, 6 of 6)

- [Towards Reasoning Era: A Survey of Long Chain-of-Thought for Reasoning Large Language Models](https://mlsanity.com/paper/2503.09567/) (2025)
- [A Survey on Large Language Models for Automated Planning](https://mlsanity.com/paper/2502.12435/) (2025)
- [Teaching LLMs to Plan: Logical Chain-of-Thought Instruction Tuning for Symbolic Planning](https://mlsanity.com/paper/2509.13351/) (2025)
- [Semantic Loss Guided Data Efficient Supervised Fine Tuning for Safe Responses in LLMs](https://mlsanity.com/paper/2412.06843/) (2024)
- [A Close Look At World Model Recovery In Supervised Fine-Tuned LLM Planners](https://mlsanity.com/paper/2606.03685/) (2026)
- [Toward Secure and Reliable PDDL Formalization of Large Language Models with Planner-in-the-Loop Feedback](https://mlsanity.com/paper/2606.29700/) (2026)

## Abstract (arXiv)

Large language models (LLMs) have demonstrated impressive task-solving capabilities through prompting techniques and system designs, including solving planning tasks (e.g., math proofs, basic travel planning) when sufficient data is available online and used during pre-training. However, for planning tasks with limited prior data (e.g., blocks world, advanced travel planning), the performance of LLMs, including proprietary models like GPT and Gemini, is poor. This paper investigates the impact of fine-tuning on the planning capabilities of LLMs, revealing that LLMs can achieve strong performance in planning through substantial (tens of thousands of specific examples) fine-tuning. Yet, this process incurs high economic, time, and computational costs for each planning problem variation. To address this, we propose Clustering-Based Maximum Diversity Sampling (CMDS), which selects diverse and representative data to enhance sample efficiency and the model's generalization capability. Extensive evaluations demonstrate that CMDS-l, a baseline method combining CMDS with language embeddings, outperforms random sampling. Furthermore, we introduce a novel algorithm, CMDS-g, which encodes planning task instances with their graph representations into the embedding space. Empirical results show that CMDS-g consistently outperforms baseline methods across various scales and multiple benchmark domains.