PlaSma: Procedural Knowledge Models for Language-based Planning and Re-Planning - Brahman, Faeze; Bhagavatula, Chandra; Pyatkin, Valentina; Hwang, Jena; Li, Xiang Lorraine; Arai, Hirona; Sanyal, Soumya; Sakaguchi, Keisuke; Ren, Xiang; Choi, Yejin (International Conference on Learning Representations, 2024)