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Extracting action sequences from texts is challenging, as it requires commonsense inferences based on world knowledge. Although there has been work on extracting action scripts, instructions, navigation actions, etc., they require either the set of candidate actions be provided in advance, or action descriptions are restricted to a specific form, e.g., description templates. In this paper we aim to extract action sequences from texts in \emph{free} natural language, i.e., without any restricted templates, provided the set of actions is unknown. We propose to extract action sequences from texts based on the deep reinforcement learning framework. Specifically, we view ``selecting'' or ``eliminating'' words from texts as ``actions'', and texts associated with actions as ``states''. We build Q-networks to learn policies of extracting actions and extract plans from the labeled texts. We demonstrate the effectiveness of our approach on several datasets with comparison to state-of-the-art approaches.