Self-Steering Language Models

While test-time reasoning enables language models to tackle complex tasks, searching or planning in natural language can be slow, costly, and error-prone. But even when LMs struggle to emulate the precise reasoning steps needed to solve a problem, they often excel at describing its abstract structure--both how to verify solutions and how to search for them. This paper introduces DisCIPL, a method for "self-steering" LMs where a Planner model generates a task-specific inference program that is executed by a population of Follower models. Our approach equips LMs with the ability to write recursive search procedures that guide LM inference, enabling new forms of verifiable and efficient reasoning. When instantiated with a small Follower (e.g., Llama-3.2-1B), DisCIPL matches (and sometimes outperforms) much larger models, including GPT-4o and o1, on challenging constrained generation tasks. In decoupling planning from execution, our work opens up a design space of highly-parallelized Monte Carlo inference strategies that outperform standard best-of-N sampling, require no finetuning, and can be implemented automatically by existing LMs.

Synthesizing world models for bilevel planning

Modern reinforcement learning (RL) systems have demonstrated remarkable capabilities in complex environments, such as video games. However, they still fall short of achieving human-like sample efficiency and adaptability when learning new domains. Theory-based reinforcement learning (TBRL) is an algorithmic framework specifically designed to address this gap. Modeled on cognitive theories, TBRL leverages structured, causal world models - "theories" - as forward simulators for use in planning, generalization and exploration. Although current TBRL systems provide compelling explanations of how humans learn to play video games, they face several technical limitations: their theory languages are restrictive, and their planning algorithms are not scalable. To address these challenges, we introduce TheoryCoder, an instantiation of TBRL that exploits hierarchical representations of theories and efficient program synthesis methods for more powerful learning and planning. TheoryCoder equips agents with general-purpose abstractions (e.g., "move to"), which are then grounded in a particular environment by learning a low-level transition model (a Python program synthesized from observations by a large language model). A bilevel planning algorithm can exploit this hierarchical structure to solve large domains. We demonstrate that this approach can be successfully applied to diverse and challenging grid-world games, where approaches based on directly synthesizing a policy perform poorly. Ablation studies demonstrate the benefits of using hierarchical abstractions.

On Benchmarking Human-Like Intelligence in Machines

Recent benchmark studies have claimed that AI has approached or even surpassed human-level performances on various cognitive tasks. However, this position paper argues that current AI evaluation paradigms are insufficient for assessing human-like cognitive capabilities. We identify a set of key shortcomings: a lack of human-validated labels, inadequate representation of human response variability and uncertainty, and reliance on simplified and ecologically-invalid tasks. We support our claims by conducting a human evaluation study on ten existing AI benchmarks, suggesting significant biases and flaws in task and label designs. To address these limitations, we propose five concrete recommendations for developing future benchmarks that will enable more rigorous and meaningful evaluations of human-like cognitive capacities in AI with various implications for such AI applications.

Testing the limits of fine-tuning to improve reasoning in vision language models

Pre-trained vision language models still fall short of human visual cognition. In an effort to improve visual cognition and align models with human behavior, we introduce visual stimuli and human judgments on visual cognition tasks, allowing us to systematically evaluate performance across cognitive domains under a consistent environment. We fine-tune models on ground truth data for intuitive physics and causal reasoning and find that this improves model performance in the respective fine-tuning domain. Furthermore, it can improve model alignment with human behavior. However, we find that fine-tuning does not contribute to robust human-like generalization to data with other visual characteristics or to tasks in other cognitive domains.

Hypothesis-Driven Theory-of-Mind Reasoning for Large Language Models

Existing LLM reasoning methods have shown impressive capabilities across various tasks, such as solving math and coding problems. However, applying these methods to scenarios without ground-truth answers or rule-based verification methods - such as tracking the mental states of an agent - remains challenging. Inspired by the sequential Monte Carlo algorithm, we introduce thought-tracing, an inference-time reasoning algorithm designed to trace the mental states of specific agents by generating hypotheses and weighting them based on observations without relying on ground-truth solutions to questions in datasets. Our algorithm is modeled after the Bayesian theory-of-mind framework, using LLMs to approximate probabilistic inference over agents' evolving mental states based on their perceptions and actions. We evaluate thought-tracing on diverse theory-of-mind benchmarks, demonstrating significant performance improvements compared to baseline LLMs. Our experiments also reveal interesting behaviors of the recent reasoning models - e.g., o1 and R1 - on theory-of-mind, highlighting the difference of social reasoning compared to other domains.

Multiagent Finetuning: Self Improvement with Diverse Reasoning Chains

Large language models (LLMs) have achieved remarkable performance in recent years but are fundamentally limited by the underlying training data. To improve models beyond the training data, recent works have explored how LLMs can be used to generate synthetic data for autonomous self-improvement. However, successive steps of self-improvement can reach a point of diminishing returns. In this work, we propose a complementary approach towards self-improvement where finetuning is applied to a multiagent society of language models. A group of language models, all starting from the same base model, are independently specialized by updating each one using data generated through multiagent interactions among the models. By training each model on independent sets of data, we illustrate how this approach enables specialization across models and diversification over the set of models. As a result, our overall system is able to preserve diverse reasoning chains and autonomously improve over many more rounds of fine-tuning than single-agent self-improvement methods. We quantitatively illustrate the efficacy of the approach across a wide suite of reasoning tasks.

Functional Risk Minimization

The field of Machine Learning has changed significantly since the 1970s. However, its most basic principle, Empirical Risk Minimization (ERM), remains unchanged. We propose Functional Risk Minimization~(FRM), a general framework where losses compare functions rather than outputs. This results in better performance in supervised, unsupervised, and RL experiments. In the FRM paradigm, for each data point $(x_i,y_i)$ there is function $f_{\theta_i}$ that fits it: $y_i = f_{\theta_i}(x_i)$. This allows FRM to subsume ERM for many common loss functions and to capture more realistic noise processes. We also show that FRM provides an avenue towards understanding generalization in the modern over-parameterized regime, as its objective can be framed as finding the simplest model that fits the training data.

Vision CNNs trained to estimate spatial latents learned similar ventral-stream-aligned representations

Studies of the functional role of the primate ventral visual stream have traditionally focused on object categorization, often ignoring -- despite much prior evidence -- its role in estimating "spatial" latents such as object position and pose. Most leading ventral stream models are derived by optimizing networks for object categorization, which seems to imply that the ventral stream is also derived under such an objective. Here, we explore an alternative hypothesis: Might the ventral stream be optimized for estimating spatial latents? And a closely related question: How different -- if at all -- are representations learned from spatial latent estimation compared to categorization? To ask these questions, we leveraged synthetic image datasets generated by a 3D graphic engine and trained convolutional neural networks (CNNs) to estimate different combinations of spatial and category latents. We found that models trained to estimate just a few spatial latents achieve neural alignment scores comparable to those trained on hundreds of categories, and the spatial latent performance of models strongly correlates with their neural alignment. Spatial latent and category-trained models have very similar -- but not identical -- internal representations, especially in their early and middle layers. We provide evidence that this convergence is partly driven by non-target latent variability in the training data, which facilitates the implicit learning of representations of those non-target latents. Taken together, these results suggest that many training objectives, such as spatial latents, can lead to similar models aligned neurally with the ventral stream. Thus, one should not assume that the ventral stream is optimized for object categorization only. As a field, we need to continue to sharpen our measures of comparing models to brains to better understand the functional roles of the ventral stream.

PickScan: Object discovery and reconstruction from handheld interactions

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong appearance priors for object discovery, therefore only working on those classes of objects on which the method has been trained, or do not allow for object manipulation, which is necessary to scan objects fully and to guide object discovery in challenging scenarios. We address these limitations with a novel interaction-guided and class-agnostic method based on object displacements that allows a user to move around a scene with an RGB-D camera, hold up objects, and finally outputs one 3D model per held-up object. Our main contribution to this end is a novel approach to detecting user-object interactions and extracting the masks of manipulated objects. On a custom-captured dataset, our pipeline discovers manipulated objects with 78.3% precision at 100% recall and reconstructs them with a mean chamfer distance of 0.90cm. Compared to Co-Fusion, the only comparable interaction-based and class-agnostic baseline, this corresponds to a reduction in chamfer distance of 73% while detecting 99% fewer false positives.

VisualPredicator: Learning Abstract World Models with Neuro-Symbolic Predicates for Robot Planning

Broadly intelligent agents should form task-specific abstractions that selectively expose the essential elements of a task, while abstracting away the complexity of the raw sensorimotor space. In this work, we present Neuro-Symbolic Predicates, a first-order abstraction language that combines the strengths of symbolic and neural knowledge representations. We outline an online algorithm for inventing such predicates and learning abstract world models. We compare our approach to hierarchical reinforcement learning, vision-language model planning, and symbolic predicate invention approaches, on both in- and out-of-distribution tasks across five simulated robotic domains. Results show that our approach offers better sample complexity, stronger out-of-distribution generalization, and improved interpretability.