diff --git a/predicators/approaches/vlm_open_loop_approach.py b/predicators/approaches/vlm_open_loop_approach.py
index 4245a9285..fee0f3317 100644
--- a/predicators/approaches/vlm_open_loop_approach.py
+++ b/predicators/approaches/vlm_open_loop_approach.py
@@ -20,12 +20,14 @@
 
 from typing import Callable, List, Sequence, Set
 
+import logging
 import numpy as np
 import PIL
 from PIL import ImageDraw
 
 from predicators import utils
 from predicators.approaches import ApproachFailure
+from predicators.planning import PlanningFailure
 from predicators.approaches.bilevel_planning_approach import \
     BilevelPlanningApproach
 from predicators.nsrt_learning.segmentation import segment_trajectory
@@ -150,6 +152,15 @@ def _solve(self, task: Task, timeout: int) -> Callable[[State], Action]:
         try:
             option_plan = self._query_vlm_for_option_plan(task)
         except Exception as e:
+            if CFG.planning_check_dr_reachable:
+                try:
+                    init_atoms = utils.abstract(task.init,
+                                                self._get_current_predicates())
+                except Exception:  # pragma: no cover - best-effort logging only
+                    init_atoms = set()
+                logging.info(f"Detected goal unreachable. Goal: {task.goal}")
+                logging.info(f"Initial atoms: {init_atoms}")
+                raise PlanningFailure(f"Goal {task.goal} not dr-reachable")
             raise ApproachFailure(
                 f"VLM failed to produce coherent option plan. Reason: {e}")