# Teaching LLMs to Plan: Logical Chain-of-Thought Instruction Tuning for Symbolic Planning

arXiv: https://arxiv.org/abs/2509.13351 · HTML: https://mlsanity.com/paper/2509.13351/

## Key facts

- Cited by 15 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 49 of its 64 references that are in the map.
- First posted on arXiv 14 Sep 2025.

## 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, 30 of 49)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [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)
- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Finetuned Language Models Are Zero-Shot Learners](https://mlsanity.com/paper/2109.01652/) (2021)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [Multitask Prompted Training Enables Zero-Shot Task Generalization](https://mlsanity.com/paper/2110.08207/) (2021)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Tulu 3: Pushing Frontiers in Open Language Model Post-Training](https://mlsanity.com/paper/2411.15124/) (2024)
- [Large Language Models Cannot Self-Correct Reasoning Yet](https://mlsanity.com/paper/2310.01798/) (2023)
- [CodeGen: An Open Large Language Model for Code with Multi-Turn Program Synthesis](https://mlsanity.com/paper/2203.13474/) (2022)
- [Super-NaturalInstructions: Generalization via Declarative Instructions on 1600+ NLP Tasks](https://mlsanity.com/paper/2204.07705/) (2022)
- [The Flan Collection: Designing Data and Methods for Effective Instruction Tuning](https://mlsanity.com/paper/2301.13688/) (2023)
- [Cross-Task Generalization via Natural Language Crowdsourcing Instructions](https://mlsanity.com/paper/2104.08773/) (2021)
- [Instruction Tuning with GPT-4](https://mlsanity.com/paper/2304.03277/) (2023)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [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)
- [Faithful Chain-of-Thought Reasoning](https://mlsanity.com/paper/2301.13379/) (2023)
- [Large Language Models for Mathematical Reasoning: Progresses and Challenges](https://mlsanity.com/paper/2402.00157/) (2024)
- [MathPrompter: Mathematical Reasoning using Large Language Models](https://mlsanity.com/paper/2303.05398/) (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)
- [On the Self-Verification Limitations of Large Language Models on Reasoning and Planning Tasks](https://mlsanity.com/paper/2402.08115/) (2024)
- [Generalized Planning in PDDL Domains with Pretrained Large Language Models](https://mlsanity.com/paper/2305.11014/) (2023)
- [Translating Natural Language to Planning Goals with Large-Language Models](https://mlsanity.com/paper/2302.05128/) (2023)
- [Can Large Language Models Really Improve by Self-critiquing Their Own Plans?](https://mlsanity.com/paper/2310.08118/) (2023)

## Built on by (most cited first, 15 of 15)

- [Procedural Knowledge Improves Agentic LLM Workflows](https://mlsanity.com/paper/2511.07568/) (2025)
- [Edit-As-Act: Goal-Regressive Planning for Open-Vocabulary 3D Indoor Scene Editing](https://mlsanity.com/paper/2603.17583/) (2026)
- [Explainability of Large Language Models: Opportunities and Challenges toward Generating Trustworthy Explanations](https://mlsanity.com/paper/2510.17256/) (2025)
- [DocVAL: Validated Chain-of-Thought Distillation for Grounded Document VQA](https://mlsanity.com/paper/2511.22521/) (2025)
- [On the Generalization Gap in LLM Planning: Tests and Verifier-Reward RL](https://mlsanity.com/paper/2601.14456/) (2026)
- [Language Models as Higher-Order Planning Formalizers](https://mlsanity.com/paper/2603.23844/) (2026)
- [Process Reward Models Meet Planning: Generating Precise and Scalable Datasets for Step-Level Rewards](https://mlsanity.com/paper/2604.17957/) (2026)
- [What We Talk About When We Talk About LLM Planning: Evidence for Two Distinct Planning Abilities](https://mlsanity.com/paper/2607.11197/) (2026)
- [Iterative Deployment Improves Planning Skills in LLMs](https://mlsanity.com/paper/2512.24940/) (2025)
- [ConceptCoder: Improve Code Reasoning via Concept Learning](https://mlsanity.com/paper/2603.23470/) (2026)
- [PDDL-ART: Autonomous Symbolic Abstraction From Demonstration For Long-Horizon Robotic Manipulation Using Vision-Language Models](https://mlsanity.com/paper/2608.17146/) (2026)
- [From Solver Feedback to Faithful Plans: Multi-Role Reinforcement Learning for Symbolic Planning](https://mlsanity.com/paper/2608.21897/) (2026)
- [Grounded Evaluation and Repair for NL-to-PDDL Problem Generation](https://mlsanity.com/paper/2609.09898/) (2026)
- [GRASP: Generating, Revising, and Assessing for Strategic Planning with Agentic AI](https://mlsanity.com/paper/2609.30147/) (2026)
- [SAGE: Symbolic Action-Gating and Editing for LLM Task Planners](https://mlsanity.com/paper/2609.34268/) (2026)

## Abstract (arXiv)

Large language models (LLMs) have demonstrated impressive capabilities across diverse tasks, yet their ability to perform structured symbolic planning remains limited, particularly in domains requiring formal representations like the Planning Domain Definition Language (PDDL). In this paper, we present a novel instruction tuning framework, PDDL-Instruct, designed to enhance LLMs' symbolic planning capabilities through logical chain-of-thought reasoning. Our approach focuses on teaching models to rigorously reason about action applicability, state transitions, and plan validity using explicit logical inference steps. By developing instruction prompts that guide models through the precise logical reasoning required to determine when actions can be applied in a given state, we enable LLMs to self-correct their planning processes through structured reflection. The framework systematically builds verification skills by decomposing the planning process into explicit reasoning chains about precondition satisfaction, effect application, and invariant preservation. Experimental results on multiple planning domains show that our chain-of-thought reasoning based instruction-tuned models are significantly better at planning, achieving planning accuracy of up to 94% on standard benchmarks, representing a 66% absolute improvement over baseline models. This work bridges the gap between the general reasoning capabilities of LLMs and the logical precision required for automated planning, offering a promising direction for developing better AI planning systems.