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Multimodal Large Language Models (MLLMs) have demonstrated impressive performance in general vision-language tasks. However, recent studies have exposed critical limitations in their spatial reasoning capabilities. This deficiency in…

Despite advancements in Multi-modal Large Language Models (MLLMs) for scene understanding, their performance on complex spatial reasoning tasks requiring mental simulation remains significantly limited. Current methods often rely on passive…

RL-based post-training with GRPO is widely used to improve large language models on individual reasoning tasks. However, real-world deployment requires reliable performance across diverse tasks. A straightforward multi-task adaptation of…

In this work we present a novel approach to hierarchical reinforcement learning for linearly-solvable Markov decision processes. Our approach assumes that the state space is partitioned, and the subtasks consist in moving between the…

Recent Large Language Models (LLMs) have significantly advanced natural language processing and automated decision-making. However, these models still encounter difficulties when performing complex reasoning tasks involving logical…

Large Language Models have demonstrated remarkable abilities in reasoning and planning by breaking down complex problems into sequential steps. Despite their success in various domains like mathematical problem-solving and coding, LLMs face…

Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by…

Large Multimodal Models (LMMs) have achieved strong performance across a range of vision and language tasks. However, their spatial reasoning capabilities are under-investigated. In this paper, we construct a novel VQA dataset, Spatial-MM,…

Low-rank approximations, of the weight and feature space can enhance the performance of deep learning models, whether in terms of improving generalization or reducing the latency of inference. However, there is no clear consensus yet on…

The enhancement of reasoning capabilities in large language models (LLMs) has garnered significant attention, with supervised fine-tuning (SFT) and reinforcement learning emerging as dominant paradigms. While recent studies recognize the…

Memory-augmented LLM agents tackle complex long-horizon tasks by recursively summarizing interaction trajectories into compact memory. However, existing approaches typically train these memory policies using outcome-based reinforcement…

Decomposing hard problems into subproblems often makes them easier and more efficient to solve. With large language models (LLMs) crossing critical reliability thresholds for a growing slate of capabilities, there is an increasing effort to…

Large Language Models (LLMs) have shown remarkable promise in reasoning and decision-making, yet their integration with Reinforcement Learning (RL) for complex robotic tasks remains underexplored. In this paper, we propose an LLM-guided…

Large Language Models (LLMs) have recently emerged as effective surrogate models and candidate generators within global optimization frameworks for expensive blackbox functions. Despite promising results, LLM-based methods often struggle in…

Recent advances in Large Language Models (LLMs) are fostering their integration into several reasoning-related fields, including Automated Planning (AP). However, their integration into Hierarchical Planning (HP), a subfield of AP that…

Large Language Models (LLMs) can self-improve through reinforcement learning, where they generate trajectories to explore and discover better solutions. However, this exploration process is computationally expensive, often forcing current…

With respect to improving the reasoning accuracy of LLMs, the representative reinforcement learning (RL) method GRPO faces failure due to insignificant reward variance, while verification methods based on process reward models (PRMs) suffer…

Spatial reasoning, which requires ability to perceive and manipulate spatial relationships in the 3D world, is a fundamental aspect of human intelligence, yet remains a persistent challenge for Multimodal large language models (MLLMs).…

Recent breakthroughs in reasoning language models have significantly advanced text-based reasoning. On the other hand, Multi-modal Large Language Models (MLLMs) still lag behind, hindered by their outdated internal LLMs. Upgrading these…

Chain-of-Thought (CoT) reasoning has significantly advanced the problem-solving capabilities of Large Language Models (LLMs), yet conventional CoT often exhibits internal determinism during decoding, limiting exploration of plausible…