Related papers: On Training Large Language Models for Long-Horizon…

Does continued scaling of large language models (LLMs) yield diminishing returns? In this work, we show that short-task benchmarks may give an illusion of slowing progress, as even marginal gains in single-step accuracy can compound into…

Large language model (LLM) agents perform strongly on short- and mid-horizon tasks, but often break down on long-horizon tasks that require extended, interdependent action sequences. Despite rapid progress in agentic systems, these…

This work introduces a framework harnessing the capabilities of Large Language Models (LLMs) to generate primitive task conditions for generalizable long-horizon manipulations with novel objects and unseen tasks. These task conditions serve…

Large language models excel at short-horizon reasoning tasks, but performance drops as reasoning horizon lengths increase. Existing approaches to combat this rely on inference-time scaffolding or costly step-level supervision, neither of…

Solving long-horizon, temporally-extended tasks using Reinforcement Learning (RL) is challenging, compounded by the common practice of learning without prior knowledge (or tabula rasa learning). Humans can generate and execute plans with…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

This work addresses the problem of long-horizon task planning with the Large Language Model (LLM) in an open-world household environment. Existing works fail to explicitly track key objects and attributes, leading to erroneous decisions in…

Large language models (LLMs) have exhibited impressive performance and surprising emergent properties. However, their effectiveness remains limited by the fixed context window of the transformer architecture, posing challenges for…

Reasoning is a fundamental capability of AI agents. Recently, large language models (LLMs) have shown remarkable abilities to perform reasoning tasks. However, numerous evaluations of the reasoning capabilities of LLMs have also showed some…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Complex, long-horizon planning and its combinatorial nature pose steep challenges for learning-based agents. Difficulties in such settings are exacerbated in low data regimes where over-fitting stifles generalization and compounding errors…

Reinforcement learning struggles in the face of long-horizon tasks and sparse goals due to the difficulty in manual reward specification. While existing methods address this by adding intrinsic rewards, they may fail to provide meaningful…

Deception is a pervasive feature of human communication and an emerging concern in large language models (LLMs). While recent studies document instances of LLM deception, most evaluations remain confined to single-turn prompts and fail to…

Recent studies have uncovered the potential of Large Language Models (LLMs) in addressing complex sequential decision-making tasks through the provision of high-level instructions. However, LLM-based agents lack specialization in tackling…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Cross-domain task-oriented dialogue requires reasoning over implicit and explicit feasibility constraints while planning long-horizon, multi-turn actions. Large language models (LLMs) can infer such constraints but are unreliable over long…

The planning ability of Large Language Models (LLMs) has garnered increasing attention in recent years due to their remarkable capacity for multi-step reasoning and their ability to generalize across a wide range of domains. While some…

Large Language Model (LLM)-based agents have achieved notable success on short-horizon and highly structured tasks. However, their ability to maintain coherent decision-making over long horizons in realistic and dynamic environments remains…

Large language model (LLM) agents have recently demonstrated strong capabilities in interactive decision-making, yet they remain fundamentally limited in long-horizon tasks that require structured planning and reliable execution. Existing…

We study goal-conditioned RL through the lens of generalization, but not in the traditional sense of random augmentations and domain randomization. Rather, we aim to learn goal-directed policies that generalize with respect to the horizon:…