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Planning in a text-based environment continues to be a significant challenge for AI systems. Recent approaches have utilized language models to predict planning domain definitions (e.g., PDDL) but have only been evaluated in closed-domain simulated environments. To address this, we present Proc2PDDL, the first dataset containing open-domain procedural texts paired with expert-annotated PDDL representations. Using this dataset, we evaluate the task of predicting domain actions (parameters, preconditions, and effects). We experiment with various large language models (LLMs) and prompting mechanisms, including a novel instruction inspired by the zone of proximal development (ZPD), which reconstructs the task as incremental basic skills. Our results demonstrate that Proc2PDDL is highly challenging for end-to-end LLMs, with GPT-3.5’s success rate close to 0% and GPT-4o’s 38%. With ZPD instructions, GPT-4o’s success rate increases to 45%, outperforming regular chain-of-thought prompting’s 34%. Our analysis systematically examines both syntactic and semantic errors, providing insights into the strengths and weaknesses of language models in generating domain-specific programs.