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Humans build viewpoint-independent cognitive maps through navigation, enabling intuitive reasoning about object permanence and spatial relations. We argue that multimodal large language models (MLLMs), despite extensive video training, lack…
Reinforcement Learning (RL) algorithms often require long training to become useful, especially in complex environments with sparse rewards. While techniques like reward shaping and curriculum learning exist to accelerate training, these…
The alignment of Large Language Models (LLMs) is critically dependent on reward models trained on costly human preference data. While recent work explores bypassing this cost with AI feedback, these methods often lack a rigorous theoretical…
Reinforcement learning (RL) has demonstrated potential in enhancing the reasoning capabilities of large language models (LLMs), but such training typically demands substantial efforts in creating and annotating data. In this work, we…
Reward models (RMs) have become essential for aligning large language models (LLMs), serving as scalable proxies for human evaluation in both training and inference. However, existing RMs struggle on knowledge-intensive and long-form tasks,…
Owing to recent advancements, Large Language Models (LLMs) can now be deployed as agents for increasingly complex decision-making applications in areas including robotics, gaming, and API integration. However, reflecting past experiences in…
Large Language Models (LLMs) have demonstrated proficiency in utilizing various tools by coding, yet they face limitations in handling intricate logic and precise control. In embodied tasks, high-level planning is amenable to direct coding,…
Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…
The success of large language models has garnered widespread attention for model merging techniques, especially training-free methods which combine model capabilities within the parameter space. However, two challenges remain: (1) uniform…
We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…
Large Language Models (LLMs) have demonstrated remarkable capabilities across various tasks, yet they face significant challenges in embodied task planning scenarios that require continuous environmental understanding and action generation.…
Large language models (LLMs) deployed as agents solve user-specified tasks over multiple steps while keeping the required manual engagement to a minimum. Crucially, such LLMs need to ground their generations in any feedback obtained to…
Agents built with large language models (LLMs) have shown great potential across a wide range of domains. However, in complex decision-making tasks, pure LLM-based agents tend to exhibit intrinsic bias in their choice of actions, which is…
Large Language Models (LLMs) have made significant progress in open-ended dialogue, yet their inability to retain and retrieve relevant information from long-term interactions limits their effectiveness in applications requiring sustained…
Although Multi-Agent Reinforcement Learning (MARL) is effective for complex multi-robot tasks, it suffers from low sample efficiency and requires iterative manual reward tuning. Large Language Models (LLMs) have shown promise in…
In the era of Large Language Models (LLMs), alignment has emerged as a fundamental yet challenging problem in the pursuit of more reliable, controllable, and capable machine intelligence. The recent success of reasoning models and…
Grounding the reasoning ability of large language models (LLMs) for embodied tasks is challenging due to the complexity of the physical world. Especially, LLM planning for multi-agent collaboration requires communication of agents or credit…
Reinforcement Learning (RL) agents often struggle in sparse-reward environments where traditional exploration strategies fail to discover effective action sequences. Large Language Models (LLMs) possess procedural knowledge and reasoning…
The ability of Large Language Models (LLMs) to extract context from natural language problem descriptions naturally raises questions about their suitability in autonomous decision-making settings. This paper studies the behaviour of these…
Large language models (LLMs) have demonstrated high performance on tasks expressed in natural language, particularly in zero- or few-shot settings. These are typically framed as supervised (e.g., classification) or unsupervised (e.g.,…