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Dialogue agents based on large language models (LLMs) have shown promising performance in engaging in proactive dialogue, owing to their capability of strategy planning. However, existing approaches to proactive dialogue face several limitations: limited strategy coverage, preference bias in planning, and reliance on costly additional training. To address these, we propose PRINCIPLES: a structured, non-parametric resource for strategy planning in proactive dialogue. We derive PRINCIPLES through self-play simulations in offline time. PRINCIPLES serves as reusable knowledge that guides strategy planning at inference time, eliminating the need for additional training and data annotation. We evaluate PRINCIPLES in both emotional supporting and persuasion domains, demonstrating its consistent improvements over strong baselines. Furthermore, PRINCIPLES maintains its robustness across extended and more diverse evaluation settings.