arXiv subjects

Łukasz Kuciński

Publications and source records attributed to Łukasz Kuciński.

At least 19 recordsLinked to original sources

arXiv2026

Subgoal Search For Complex Reasoning Tasks

Humans excel in solving complex reasoning tasks through a mental process of moving from one idea to a related one. Inspired by this, we propose Subgoal Search (kSubS) method. Its key component is a learned subgoal generator that produces a diversity of subgoals that are both achievable and closer to the solution. Using subgoals reduces the search space and induces a high-level search graph suitable for efficient planning. In this paper, we implement kSubS using a transformer-based subgoal module coupled with the classical best-first search framework. We show that a simple approach of generating $k$-th step ahead subgoals is surprisingly efficient on three challenging domains: two popular puzzle games, Sokoban and the Rubik's Cube, and an inequality proving benchmark INT. kSubS achieves strong results including state-of-the-art on INT within a modest computational budget.

cs.AI↗

arXiv2026

RoboMorph: Evolving Robot Morphology using Large Language Models

We introduce RoboMorph, an automated approach for generating and optimizing modular robot designs using large language models (LLMs) and evolutionary algorithms. Each robot design is represented by a structured grammar, and we use LLMs to efficiently explore this design space. Traditionally, such exploration is time-consuming and computationally intensive. Using a best-shot prompting strategy combined with reinforcement learning (RL)-based control evaluation, RoboMorph iteratively refines robot designs within an evolutionary feedback loop. Across four terrain types, RoboMorph discovers diverse, terrain-specialized morphologies, including wheeled quadrupeds and hexapods, that match or outperform designs produced by Robogrammar's graph-search method. These results demonstrate that LLMs, when coupled with evolutionary selection, can serve as effective generative operators for automated robot design. Our project page and code are available at https://robomorph.github.io.

cs.LG↗

arXiv2026

There and Back Again: On the relation between Noise and Image Inversions in Diffusion Models

Diffusion Models achieve state-of-the-art performance in generating new samples but lack a low-dimensional latent space that encodes the data into editable features. Inversion-based methods address this by reversing the denoising trajectory, transferring images to their approximated starting noise. In this work, we thoroughly analyze this procedure and focus on the relation between the initial noise, the generated samples, and their corresponding latent encodings obtained through the DDIM inversion. First, we show that latents exhibit structural patterns in the form of less diverse noise predicted for smooth image areas (e.g., plain sky). Through a series of analyses, we trace this issue to the first inversion steps, which fail to provide accurate and diverse noise. Consequently, the DDIM inversion space is notably less manipulative than the original noise. We show that prior inversion methods do not fully resolve this issue, but our simple fix, where we replace the first DDIM Inversion steps with a forward diffusion process, successfully decorrelates latent encodings and enables higher quality editions and interpolations. The code is available at https://github.com/luk-st/taba.

cs.CV↗

arXiv2025

Accelerating Goal-Conditioned RL Algorithms and Research

Self-supervision has the potential to transform reinforcement learning (RL), paralleling the breakthroughs it has enabled in other areas of machine learning. While self-supervised learning in other domains aims to find patterns in a fixed dataset, self-supervised goal-conditioned reinforcement learning (GCRL) agents discover new behaviors by learning from the goals achieved during unstructured interaction with the environment. However, these methods have failed to see similar success, both due to a lack of data from slow environment simulations as well as a lack of stable algorithms. We take a step toward addressing both of these issues by releasing a high-performance codebase and benchmark (JaxGCRL) for self-supervised GCRL, enabling researchers to train agents for millions of environment steps in minutes on a single GPU. By utilizing GPU-accelerated replay buffers, environments, and a stable contrastive RL algorithm, we reduce training time by up to $22\times$. Additionally, we assess key design choices in contrastive RL, identifying those that most effectively stabilize and enhance training performance. With this approach, we provide a foundation for future research in self-supervised GCRL, enabling researchers to quickly iterate on new ideas and evaluate them in diverse and challenging environments. Website + Code: https://github.com/MichalBortkiewicz/JaxGCRL

cs.LG↗

arXiv2025

BALROG: Benchmarking Agentic LLM and VLM Reasoning On Games

Large Language Models (LLMs) and Vision Language Models (VLMs) possess extensive knowledge and exhibit promising reasoning abilities, however, they still struggle to perform well in complex, dynamic environments. Real-world tasks require handling intricate interactions, advanced spatial reasoning, long-term planning, and continuous exploration of new strategies-areas in which we lack effective methodologies for comprehensively evaluating these capabilities. To address this gap, we introduce BALROG, a novel benchmark designed to assess the agentic capabilities of LLMs and VLMs through a diverse set of challenging games. Our benchmark incorporates a range of existing reinforcement learning environments with varying levels of difficulty, including tasks that are solvable by non-expert humans in seconds to extremely challenging ones that may take years to master (e.g., the NetHack Learning Environment). We devise fine-grained metrics to measure performance and conduct an extensive evaluation of several popular open-source and closed-source LLMs and VLMs. Our findings indicate that while current models achieve partial success in the easier games, they struggle significantly with more challenging tasks. Notably, we observe severe deficiencies in vision-based decision-making, as several models perform worse when visual representations of the environments are provided. We release BALROG as an open and user-friendly benchmark to facilitate future research and development in the agentic community. Code and Leaderboard at balrogai.com.

cs.AI↗

arXiv2025

Structured Packing in LLM Training Improves Long Context Utilization

Recent advancements in long-context large language models have attracted significant attention, yet their practical applications often suffer from suboptimal context utilization. This study investigates structuring training data to enhance semantic interdependence, demonstrating that this approach effectively improves context utilization. To this end, we introduce the Structured Packing for Long Context (SPLiCe) method, which utilizes retrieval to collate mutually relevant documents into long and coherent training examples. We validate SPLiCe empirically across models of varying sizes -- 3B, 7B, and 13B -- achieving improved performance in long-context tasks, such as Qasper and HotpotQA. Remarkably, even brief fine-tuning with SPLiCe is sufficient to realize these benefits. Additionally, SPLiCe effectively mitigates the lost-in-middle phenomenon often observed in large models. Our comprehensive analysis of SPLiCe explores its design choices and reveals intriguing transfer effects; for instance, training on programming code enhances performance on natural language tasks.

cs.CL↗

arXiv2025

What Matters in Hierarchical Search for Combinatorial Reasoning Problems?

Efficiently tackling combinatorial reasoning problems, particularly the notorious NP-hard tasks, remains a significant challenge for AI research. Recent efforts have sought to enhance planning by incorporating hierarchical high-level search strategies, known as subgoal methods. While promising, their performance against traditional low-level planners is inconsistent, raising questions about their application contexts. In this study, we conduct an in-depth exploration of subgoal-planning methods for combinatorial reasoning. We identify the attributes pivotal for leveraging the advantages of high-level search: hard-to-learn value functions, complex action spaces, presence of dead ends in the environment, or using data collected from diverse experts. We propose a consistent evaluation methodology to achieve meaningful comparisons between methods and reevaluate the state-of-the-art algorithms.

cs.LG↗

arXiv2024

RapidDock: Unlocking Proteome-scale Molecular Docking

Accelerating molecular docking -- the process of predicting how molecules bind to protein targets -- could boost small-molecule drug discovery and revolutionize medicine. Unfortunately, current molecular docking tools are too slow to screen potential drugs against all relevant proteins, which often results in missed drug candidates or unexpected side effects occurring in clinical trials. To address this gap, we introduce RapidDock, an efficient transformer-based model for blind molecular docking. RapidDock achieves at least a $100 \times$ speed advantage over existing methods without compromising accuracy. On the Posebusters and DockGen benchmarks, our method achieves $52.1\%$ and $44.0\%$ success rates ($\text{RMSD}<2$Å), respectively. The average inference time is $0.04$ seconds on a single GPU, highlighting RapidDock's potential for large-scale docking studies. We examine the key features of RapidDock that enable leveraging the transformer architecture for molecular docking, including the use of relative distance embeddings of $3$D structures in attention matrices, pre-training on protein folding, and a custom loss function invariant to molecular symmetries.

q-bio.BM↗

arXiv2024

Fine-tuning Reinforcement Learning Models is Secretly a Forgetting Mitigation Problem

Fine-tuning is a widespread technique that allows practitioners to transfer pre-trained capabilities, as recently showcased by the successful applications of foundation models. However, fine-tuning reinforcement learning (RL) models remains a challenge. This work conceptualizes one specific cause of poor transfer, accentuated in the RL setting by the interplay between actions and observations: forgetting of pre-trained capabilities. Namely, a model deteriorates on the state subspace of the downstream task not visited in the initial phase of fine-tuning, on which the model behaved well due to pre-training. This way, we lose the anticipated transfer benefits. We identify conditions when this problem occurs, showing that it is common and, in many cases, catastrophic. Through a detailed empirical analysis of the challenging NetHack and Montezuma's Revenge environments, we show that standard knowledge retention techniques mitigate the problem and thus allow us to take full advantage of the pre-trained capabilities. In particular, in NetHack, we achieve a new state-of-the-art for neural models, improving the previous best score from $5$K to over $10$K points in the Human Monk scenario.

cs.LG↗

arXiv2024

GUIDE: Guidance-based Incremental Learning with Diffusion Models

We introduce GUIDE, a novel continual learning approach that directs diffusion models to rehearse samples at risk of being forgotten. Existing generative strategies combat catastrophic forgetting by randomly sampling rehearsal examples from a generative model. Such an approach contradicts buffer-based approaches where sampling strategy plays an important role. We propose to bridge this gap by incorporating classifier guidance into the diffusion process to produce rehearsal examples specifically targeting information forgotten by a continuously trained model. This approach enables the generation of samples from preceding task distributions, which are more likely to be misclassified in the context of recently encountered classes. Our experimental results show that GUIDE significantly reduces catastrophic forgetting, outperforming conventional random sampling approaches and surpassing recent state-of-the-art methods in continual learning with generative replay.

cs.LG↗

arXiv2024

Fast and Precise: Adjusting Planning Horizon with Adaptive Subgoal Search

Complex reasoning problems contain states that vary in the computational cost required to determine a good action plan. Taking advantage of this property, we propose Adaptive Subgoal Search (AdaSubS), a search method that adaptively adjusts the planning horizon. To this end, AdaSubS generates diverse sets of subgoals at different distances. A verification mechanism is employed to filter out unreachable subgoals swiftly, allowing to focus on feasible further subgoals. In this way, AdaSubS benefits from the efficiency of planning with longer subgoals and the fine control with the shorter ones, and thus scales well to difficult planning problems. We show that AdaSubS significantly surpasses hierarchical planning algorithms on three complex reasoning tasks: Sokoban, the Rubik's Cube, and inequality proving benchmark INT.

cs.AI↗

arXiv2024

Catalytic Role Of Noise And Necessity Of Inductive Biases In The Emergence Of Compositional Communication

Communication is compositional if complex signals can be represented as a combination of simpler subparts. In this paper, we theoretically show that inductive biases on both the training framework and the data are needed to develop a compositional communication. Moreover, we prove that compositionality spontaneously arises in the signaling games, where agents communicate over a noisy channel. We experimentally confirm that a range of noise levels, which depends on the model and the data, indeed promotes compositionality. Finally, we provide a comprehensive study of this dependence and report results in terms of recently studied compositionality metrics: topographical similarity, conflict count, and context independence.

cs.LG↗

arXiv2024

Trust Your $\nabla$: Gradient-based Intervention Targeting for Causal Discovery

Inferring causal structure from data is a challenging task of fundamental importance in science. Observational data are often insufficient to identify a system's causal structure uniquely. While conducting interventions (i.e., experiments) can improve the identifiability, such samples are usually challenging and expensive to obtain. Hence, experimental design approaches for causal discovery aim to minimize the number of interventions by estimating the most informative intervention target. In this work, we propose a novel Gradient-based Intervention Targeting method, abbreviated GIT, that 'trusts' the gradient estimator of a gradient-based causal discovery framework to provide signals for the intervention acquisition function. We provide extensive experiments in simulated and real-world datasets and demonstrate that GIT performs on par with competitive baselines, surpassing them in the low-data regime.

stat.ML↗

arXiv2024

tsGT: Stochastic Time Series Modeling With Transformer

Time series methods are of fundamental importance in virtually any field of science that deals with temporally structured data. Recently, there has been a surge of deterministic transformer models with time series-specific architectural biases. In this paper, we go in a different direction by introducing tsGT, a stochastic time series model built on a general-purpose transformer architecture. We focus on using a well-known and theoretically justified rolling window backtesting and evaluation protocol. We show that tsGT outperforms the state-of-the-art models on MAD and RMSE, and surpasses its stochastic peers on QL and CRPS, on four commonly used datasets. We complement these results with a detailed analysis of tsGT's ability to model the data distribution and predict marginal quantile values.

cs.LG↗

arXiv2024

Magnushammer: A Transformer-Based Approach to Premise Selection

This paper presents a novel approach to premise selection, a crucial reasoning task in automated theorem proving. Traditionally, symbolic methods that rely on extensive domain knowledge and engineering effort are applied to this task. In contrast, this work demonstrates that contrastive training with the transformer architecture can achieve higher-quality retrieval of relevant premises, without the engineering overhead. Our method, Magnushammer, outperforms the most advanced and widely used automation tool in interactive theorem proving called Sledgehammer. On the PISA and miniF2F benchmarks Magnushammer achieves $59.5\%$ (against $38.3\%$) and $34.0\%$ (against $20.9\%$) success rates, respectively. By combining \method with a language-model-based automated theorem prover, we further improve the state-of-the-art proof success rate from $57.0\%$ to $71.0\%$ on the PISA benchmark using $4$x fewer parameters. Moreover, we develop and open source a novel dataset for premise selection, containing textual representations of (proof state, relevant premise) pairs. To the best of our knowledge, this is the largest available premise selection dataset, and the first one for the Isabelle proof assistant.

cs.LG↗

arXiv2022

Disentangling Transfer in Continual Reinforcement Learning

The ability of continual learning systems to transfer knowledge from previously seen tasks in order to maximize performance on new tasks is a significant challenge for the field, limiting the applicability of continual learning solutions to realistic scenarios. Consequently, this study aims to broaden our understanding of transfer and its driving forces in the specific case of continual reinforcement learning. We adopt SAC as the underlying RL algorithm and Continual World as a suite of continuous control tasks. We systematically study how different components of SAC (the actor and the critic, exploration, and data) affect transfer efficacy, and we provide recommendations regarding various modeling options. The best set of choices, dubbed ClonEx-SAC, is evaluated on the recent Continual World benchmark. ClonEx-SAC achieves 87% final success rate compared to 80% of PackNet, the best method in the benchmark. Moreover, the transfer grows from 0.18 to 0.54 according to the metric provided by Continual World.

cs.LG↗

arXiv2021

Continuous Control With Ensemble Deep Deterministic Policy Gradients

The growth of deep reinforcement learning (RL) has brought multiple exciting tools and methods to the field. This rapid expansion makes it important to understand the interplay between individual elements of the RL toolbox. We approach this task from an empirical perspective by conducting a study in the continuous control setting. We present multiple insights of fundamental nature, including: an average of multiple actors trained from the same data boosts performance; the existing methods are unstable across training runs, epochs of training, and evaluation runs; a commonly used additive action noise is not required for effective training; a strategy based on posterior sampling explores better than the approximated UCB combined with the weighted Bellman backup; the weighted Bellman backup alone cannot replace the clipped double Q-Learning; the critics' initialization plays the major role in ensemble-based actor-critic exploration. As a conclusion, we show how existing tools can be brought together in a novel way, giving rise to the Ensemble Deep Deterministic Policy Gradients (ED2) method, to yield state-of-the-art results on continuous control tasks from OpenAI Gym MuJoCo. From the practical side, ED2 is conceptually straightforward, easy to code, and does not require knowledge outside of the existing RL toolbox.

cs.LG↗

arXiv2021

Continual World: A Robotic Benchmark For Continual Reinforcement Learning

Continual learning (CL) -- the ability to continuously learn, building on previously acquired knowledge -- is a natural requirement for long-lived autonomous reinforcement learning (RL) agents. While building such agents, one needs to balance opposing desiderata, such as constraints on capacity and compute, the ability to not catastrophically forget, and to exhibit positive transfer on new tasks. Understanding the right trade-off is conceptually and computationally challenging, which we argue has led the community to overly focus on catastrophic forgetting. In response to these issues, we advocate for the need to prioritize forward transfer and propose Continual World, a benchmark consisting of realistic and meaningfully diverse robotic tasks built on top of Meta-World as a testbed. Following an in-depth empirical evaluation of existing CL methods, we pinpoint their limitations and highlight unique algorithmic challenges in the RL setting. Our benchmark aims to provide a meaningful and computationally inexpensive challenge for the community and thus help better understand the performance of existing and future solutions. Information about the benchmark, including the open-source code, is available at https://sites.google.com/view/continualworld.

cs.LG↗