# Unifying Inference-Time Planning Language Generation

arXiv: https://arxiv.org/abs/2505.14763 · HTML: https://mlsanity.com/paper/2505.14763/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 65 references that are in the map.
- First posted on arXiv 20 May 2025.

## Builds on (most cited first, 26 of 26)

- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Efficient Memory Management for Large Language Model Serving with PagedAttention](https://mlsanity.com/paper/2309.06180/) (2023)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [PICARD: Parsing Incrementally for Constrained Auto-Regressive Decoding from Language Models](https://mlsanity.com/paper/2109.05093/) (2021)
- [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)
- [ZebraLogic: On the Scaling Limits of LLMs for Logical Reasoning](https://mlsanity.com/paper/2502.01100/) (2025)
- [ADaPT: As-Needed Decomposition and Planning with Language Models](https://mlsanity.com/paper/2311.05772/) (2023)
- [Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Making](https://mlsanity.com/paper/2410.07166/) (2024)
- [Generalized Planning in PDDL Domains with Pretrained Large Language Models](https://mlsanity.com/paper/2305.11014/) (2023)
- [CLIN: A Continually Learning Language Agent for Rapid Task Adaptation and Generalization](https://mlsanity.com/paper/2310.10134/) (2023)
- [PlanGenLLMs: A Modern Survey of LLM Planning Capabilities](https://mlsanity.com/paper/2502.11221/) (2025)
- [Plug in the Safety Chip: Enforcing Constraints for LLM-driven Robot Agents](https://mlsanity.com/paper/2309.09919/) (2023)
- [Knowledge Transfer from High-Resource to Low-Resource Programming Languages for Code LLMs](https://mlsanity.com/paper/2308.09895/) (2023)
- [LLMs as Planning Formalizers: A Survey for Leveraging Large Language Models to Construct Automated Planning Models](https://mlsanity.com/paper/2503.18971/) (2025)
- [Counting to Explore and Generalize in Text-based Games](https://mlsanity.com/paper/1806.11525/) (2018)
- [Planning Anything with Rigor: General-Purpose Zero-Shot Planning with LLM-based Formalized Programming](https://mlsanity.com/paper/2410.12112/) (2024)
- [Planetarium: A Rigorous Benchmark for Translating Text to Structured Planning Languages](https://mlsanity.com/paper/2407.03321/) (2024)
- [Text2World: Benchmarking Large Language Models for Symbolic World Model Generation](https://mlsanity.com/paper/2502.13092/) (2025)
- [Automating the Generation of Prompts for LLM-based Action Choice in PDDL Planning](https://mlsanity.com/paper/2311.09830/) (2023)
- [On the Limit of Language Models as Planning Formalizers](https://mlsanity.com/paper/2412.09879/) (2024)
- [PROC2PDDL: Open-Domain Planning Representations from Texts](https://mlsanity.com/paper/2403.00092/) (2024)
- [LLM+AL: Bridging Large Language Models and Action Languages for Complex Reasoning about Actions](https://mlsanity.com/paper/2501.00830/) (2025)
- [Code-as-Symbolic-Planner: Foundation Model-Based Robot Planning via Symbolic Code Generation](https://mlsanity.com/paper/2503.01700/) (2025)
- [Language Models can Infer Action Semantics for Symbolic Planners from Environment Feedback](https://mlsanity.com/paper/2406.02791/) (2024)

## Built on by (most cited first, 3 of 3)

- [Language Models as Higher-Order Planning Formalizers](https://mlsanity.com/paper/2603.23844/) (2026)
- [Reliability-Asymmetric Spacecraft Autonomy: Co-Designing a Capable Learned GNC Stack with a Verified, Adaptation-Aware Runtime Shield](https://mlsanity.com/paper/2606.25366/) (2026)
- [PDDLCoder: Agentic PDDL Generation for LLM-Assisted Symbolic Planning](https://mlsanity.com/paper/2608.16637/) (2026)

## Abstract (arXiv)

A line of work in planning uses LLM not to generate a plan, but to generate a formal representation in some planning language, which can be input into a symbolic solver to deterministically find a plan. While showing improved trust and promising performance, dozens of recent publications have proposed scattered methods on a variety of benchmarks under different experimental settings. We attempt to unify the inference-time LLM-as-formalizer methodology for classical planning by proposing a unifying framework based on intermediate representations. We thus systematically evaluate more than a dozen pipelines that subsume most existing work, while proposing novel ones that involve syntactically similar but high resource intermediate languages (such as a Python wrapper of PDDL). We provide recipes for planning language generation pipelines, draw a series of conclusions showing the efficacy of their various components, and evidence their robustness against problem complexity.