Hiroki Furuta

EDBT 2026 Demo / reviewers in the wild / expert

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16ranked-venue papers

6as first author

16since 2021 · last 2026

—ORCID · unresolved

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 16 · 6 first-author · 16 since 2021Systems, architecture and hardware · 1 · 1 since 2021

Year	Publication	Venue	Position
2026	Understanding Emergent Misalignment via Feature Superposition Geometry abstract Emergent misalignment, where fine-tuning on narrow, non-harmful tasks induces harmful behaviors, poses a key challenge for AI safety in LLMs.Despite growing empirical evidence, its underlying mechanism remains unclear.To uncover the reason behind this phenomenon, we propose a geometric account based on the geometry of feature superposition.Because features are encoded in overlapping representations, fine-tuning that amplifies a target feature also unintentionally strengthens nearby harmful features in accordance with their similarity.We give a simple gradient-level derivation of this effect and empirically test it in multiple LLMs (Gemma-2 2B/9B/27B, LLaMA-3.1 8B, gpt-oss 20B).Using sparse autoencoders (SAEs), we identify features tied to misalignment-inducing data and to harmful behaviors, and show that they are geometrically closer to each other than features derived from non-inducing data.This trend generalizes across domains (e.g., health, career, legal advice).Finally, we show that a geometry-aware approach-filtering training samples closest to toxic features-reduces misalignment by 34.5%, substantially outperforming random removal and achieving comparable or slightly lower misalignment than LLM-as-ajudge-based filtering.Our study links emergent misalignment to feature superposition, providing a basis for understanding and mitigating this phenomenon.This paper analyzes datasets and model outputs that include offensive language. Gouki Minegishi, Hiroki Furuta, Takeshi Kojima, Yusuke Iwasawa, Yutaka Matsuo	ACL (1)	2
2025	Rethinking Evaluation of Sparse Autoencoders through the Representation of Polysemous Words abstract Sparse autoencoders (SAEs) have gained a lot of attention as a promising tool to improve the interpretability of large language models (LLMs) by mapping the complex superposition of polysemantic neurons into monosemantic features and composing a sparse dictionary of words. However, traditional performance metrics like Mean Squared Error and $\mathrm{L}_{0}$ sparsity ignore the evaluation of the semantic representational power of SAEs - whether they can acquire interpretable monosemantic features while preserving the semantic relationship of words.For instance, it is not obvious whether a learned sparse feature could distinguish different meanings in one word. In this paper, we propose a suite of evaluations for SAEs to analyze the quality of monosemantic features by focusing on polysemous words. Our findings reveal that SAEs developed to improve the MSE-$\mathrm{L}_0$ Pareto frontier may confuse interpretability, which does not necessarily enhance the extraction of monosemantic features. The analysis of SAEs with polysemous words can also figure out the internal mechanism of LLMs; deeper layers and the Attention module contribute to distinguishing polysemy in a word. Our semantics-focused evaluation offers new insights into the polysemy and the existing SAE objective and contributes to the development of more practical SAEs. Gouki Minegishi, Hiroki Furuta, Yusuke Iwasawa, Yutaka Matsuo	ICLR	2
2025	Plan-and-Act: Improving Planning of Agents for Long-Horizon Tasks abstract Large language models (LLMs) have shown remarkable advancements in enabling language agents to tackle simple tasks. However, applying them for complex, multi-step, long-horizon tasks remains a challenge. Recent work have found success by separating high-level planning from low-level execution, which enables the model to effectively balance high-level planning objectives and low-level execution details. However, generating accurate plans remains difficult since LLMs are not inherently trained for this task. To address this, we propose Plan-and-Act, a novel framework that incorporates explicit planning into LLM-based agents and introduces a scalable method to enhance plan generation through a novel synthetic data generation method. Plan-and-Act consists of a Planner model which generates structured, high-level plans to achieve user goals, and an Executor model that translates these plans into environment-specific actions. To train the Planner effectively, we introduce a synthetic data generation method that annotates ground-truth trajectories with feasible plans, augmented with diverse and extensive examples to enhance generalization. We evaluate Plan-and-Act using web navigation as a representative long-horizon planning environment, demonstrating a state-of-the-art 57.58% success rate on the WebArena-Lite benchmark as well as a text-only state-of-the-art 81.36% success rate on WebVoyager. Lutfi Eren Erdogan, Nicholas Lee, Sehoon Kim 0001, Suhong Moon, Hiroki Furuta, Gopala Krishna Anumanchipalli, Kurt Keutzer, Amir Gholami	ICML	5
2025	Beyond Induction Heads: In-Context Meta Learning Induces Multi-Phase Circuit Emergence abstract Transformer-based language models exhibit In-Context Learning (ICL), where predictions are made adaptively based on context. While prior work links induction heads to ICL through a sudden jump in accuracy, this can only account for ICL when the answer is included within the context. However, an important property of practical ICL in large language models is the ability to meta-learn how to solve tasks from context, rather than just copying answers from context; how such an ability is obtained during training is largely unexplored. In this paper, we experimentally clarify how such meta-learning ability is acquired by analyzing the dynamics of the model’s circuit during training. Specifically, we extend the copy task from previous research into an In-Context Meta Learning setting, where models must infer a task from examples to answer queries. Interestingly, in this setting, we find that there are multiple phases in the process of acquiring such abilities, and that a unique circuit emerges in each phase, contrasting with the single-phases change in induction heads. The emergence of such circuits can be related to several phenomena known in large language models, and our analysis lead to a deeper understanding of the source of the transformer’s ICL ability. Gouki Minegishi, Hiroki Furuta, Shohei Taniguchi, Yusuke Iwasawa, Yutaka Matsuo	ICML	2
2025	Topology of Reasoning: Understanding Large Reasoning Models through Reasoning Graph Properties abstract Recent large-scale reasoning models have achieved state-of-the-art performance on challenging mathematical benchmarks, yet the internal mechanisms underlying their success remain poorly understood. In this work, we introduce the notion of a reasoning graph, extracted by clustering hidden‐state representations at each reasoning step, and systematically analyze three key graph-theoretic properties: cyclicity, diameter, and small-world index, across multiple tasks (GSM8K, MATH500, AIME~2024). Our findings reveal that distilled reasoning models (e.g., DeepSeek-R1-Distill-Qwen-32B) exhibit significantly more recurrent cycles (about 5 per sample), substantially larger graph diameters, and pronounced small-world characteristics (about 6x) compared to their base counterparts. Notably, these structural advantages grow with task difficulty and model capacity, with cycle detection peaking at the 14B scale and exploration diameter maximized in the 32B variant, correlating positively with accuracy. Furthermore, we show that supervised fine-tuning on an improved dataset systematically expands reasoning graph diameters in tandem with performance gains, offering concrete guidelines for dataset design aimed at boosting reasoning capabilities. By bridging theoretical insights into reasoning graph structures with practical recommendations for data construction, our work advances both the interpretability and the efficacy of large reasoning models. Gouki Minegishi, Hiroki Furuta, Takeshi Kojima, Yusuke Iwasawa, Yutaka Matsuo	NeurIPS	2
2025	Inference-Time Text-to-Video Alignment with Diffusion Latent Beam Search abstract The remarkable progress in text-to-video diffusion models enables the generation of photorealistic videos, although the content of these generated videos often includes unnatural movement or deformation, reverse playback, and motionless scenes. Recently, an alignment problem has attracted huge attention, where we steer the output of diffusion models based on some measure of the content's goodness. Because there is a large room for improvement of perceptual quality along the frame direction, we should address which metrics we should optimize and how we can optimize them in the video generation. In this paper, we propose diffusion latent beam search with lookahead estimator, which can select a better diffusion latent to maximize a given alignment reward at inference time. We then point out that improving perceptual video quality with respect to alignment to prompts requires reward calibration by weighting existing metrics. This is because when humans or vision language models evaluate outputs, many previous metrics to quantify the naturalness of video do not always correlate with the evaluation. We demonstrate that our method improves the perceptual quality evaluated on the calibrated reward, VLMs, and human assessment, without model parameter update, and outputs the best generation compared to greedy search and best-of-N sampling under much more efficient computational cost. The experiments highlight that our method is beneficial to many capable generative models, and provide a practical guideline: we should prioritize the inference-time compute allocation into enabling the lookahead estimator and increasing the search budget, rather than expanding the denoising steps. Yuta Oshima, Masahiro Suzuki 0001, Yutaka Matsuo, Hiroki Furuta	NeurIPS	4
2024	Multimodal Web Navigation with Instruction-Finetuned Foundation Models abstract The progress of autonomous web navigation has been hindered by the dependence on billions of exploratory interactions via online reinforcement learning, and domain-specific model designs that make it difficult to leverage generalization from rich out-of-domain data. In this work, we study data-driven offline training for web agents with vision-language foundation models. We propose an instruction-following multimodal agent, WebGUM, that observes both webpage screenshots and HTML pages and outputs web navigation actions, such as click and type. WebGUM is trained by jointly finetuning an instruction-finetuned language model and a vision encoder with temporal and local perception on a large corpus of demonstrations. We empirically demonstrate this recipe improves the agent's ability of grounded multimodal perception, HTML comprehension, and multi-step reasoning, outperforming prior works by a significant margin. On the MiniWoB, we improve over the previous best offline methods by more than 45.8%, even outperforming online-finetuned SoTA, humans, and GPT-4-based agent. On the WebShop benchmark, our 3-billion-parameter model achieves superior performance to the existing SoTA, PaLM-540B. Furthermore, WebGUM exhibits strong positive transfer to the real-world planning tasks on the Mind2Web. We also collect 347K high-quality demonstrations using our trained models, 38 times larger than prior work, and make them available to promote future research in this direction. Hiroki Furuta, Kuang-Huei Lee, Ofir Nachum, Yutaka Matsuo, Aleksandra Faust, Shixiang Gu, Izzeddin Gur	ICLR	1
2024	A Real-World WebAgent with Planning, Long Context Understanding, and Program Synthesis abstract Pre-trained large language models (LLMs) have recently achieved better generalization and sample efficiency in autonomous web automation. However, the performance on real-world websites has still suffered from (1) open domainness, (2) limited context length, and (3) lack of inductive bias on HTML. We introduce WebAgent, an LLM-driven agent that learns from self-experience to complete tasks on real websites following natural language instructions. WebAgent plans ahead by decomposing instructions into canonical sub-instructions, summarizes long HTML documents into task-relevant snippets, and acts on websites via Python programs generated from those. We design WebAgent with Flan-U-PaLM, for grounded code generation, and HTML-T5, new pre-trained LLMs for long HTML documents using local and global attention mechanisms and a mixture of long-span denoising objectives, for planning and summarization. We empirically demonstrate that our modular recipe improves the success on real websites by over 50%, and that HTML-T5 is the best model to solve various HTML understanding tasks; achieving 18.7% higher success rate than the prior method on MiniWoB web automation benchmark, and SoTA performance on Mind2Web, an offline task planning evaluation. Izzeddin Gur, Hiroki Furuta, Austin V. Huang, Mustafa Safdari, Yutaka Matsuo, Douglas Eck, Aleksandra Faust	ICLR	2
2024	A Human-Inspired Reading Agent with Gist Memory of Very Long Contexts abstract Current Large Language Models (LLMs) are not only limited to some maximum context length, but also are not able to robustly consume long inputs. To address these limitations, we propose ReadAgent, an LLM agent system that increases effective context length up to 20x in our experiments. Inspired by how humans interactively read long documents, we implement ReadAgent as a simple prompting system that uses the advanced language capabilities of LLMs to (1) decide what content to store together in a memory episode, (2) compress those memory episodes into short episodic memories called gist memories, and (3) take actions to look up passages in the original text if ReadAgent needs to remind itself of relevant details to complete a task. We evaluate ReadAgent against baselines using retrieval methods, using the original long contexts, and using the gist memories. These evaluations are performed on three long-document reading comprehension tasks: QuALITY, NarrativeQA, and QMSum. ReadAgent outperforms the baselines on all three tasks while extending the effective context window by 3.5-20x. Kuang-Huei Lee, Hiroki Furuta, John F. Canny, Ian Fischer	ICML	3
2024	Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration abstract Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train "generalist" X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. The project website is robotics-transformer-x.github.io. Abigail O'Neill, Abhiram Maddukuri, Abhishek Gupta 0004, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, Albert Tung, Alex Bewley, Alex Irpan, Alexander Khazatsky, Anant Rai, Anchit Gupta, Andrew E. Wang, Anikait Singh, Animesh Garg, Aniruddha Kembhavi, Annie Xie, Anthony Brohan, Antonin Raffin, Archit Sharma, Arefeh Yavary, Arhan Jain, Ashwin Balakrishna, Ayzaan Wahid, Ben Burgess-Limerick, Bernhard Schölkopf, Blake Wulfe, Brian Ichter, Cewu Lu, Charles Xu 0003, Charlotte Le, Chelsea Finn, Chen Wang 0053, Chenfeng Xu, Cheng Chi 0001, Chenguang Huang, Christine Chan, Christopher Agia, Chuer Pan, Chuyuan Fu, Coline Devin, Danfei Xu, Daniel Morton, Danny Drieß, Daphne Chen, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dinesh Jayaraman, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns, Ethan Paul Foster, Fangchen Liu, Federico Ceola, Fei Xia 0002, Feiyu Zhao, Freek Stulp, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Gilbert Feng, Giulio Schiavi, Glen Berseth, Gregory Kahn, Guanzhi Wang, Hao Su 0001, Haoshu Fang, Henghui Bao, Heni Ben Amor, Henrik I. Christensen, Hiroki Furuta, Homer Walke, Hongjie Fang, Huy Ha, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jad Abou-Chakra, Jaehyung Kim 0001, Jaimyn Drake, Jan Peters 0001, Jan Schneider 0007, Jasmine Hsu, Jeannette Bohg, Jeffrey T. Bingham, Jensen Gao, Jiaheng Hu, Jiajun Wu 0001, Jiankai Sun, Jianlan Luo, Jiayuan Gu, Jie Tan 0001, Jihoon Oh, Jimmy Wu, Jingpei Lu, Jitendra Malik, João Silvério, Joey Hejna, Jonathan Booher, Jonathan Tompson, Jonathan Yang, Jordi Salvador, Joseph J. Lim, Junhyek Han, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Kenneth Y. Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Black, Kevin Zhang 0002, Kiana Ehsani, Kiran Lekkala, Kirsty Ellis, Krishan Rana, Krishnan Srinivasan, Kuan Fang, Kunal Pratap Singh, Kuo-Hao Zeng, Kyle Hatch, Kyle Hsu, Laurent Itti, Yunliang Chen 0001, Lerrel Pinto, Li Fei-Fei 0001, Liam Tan, Linxi Fan, Lionel Ott, Lisa Lee, Luca Weihs, Magnum Chen, Marion Lepert, Marius Memmel, Masayoshi Tomizuka, Masha Itkina, Mateo Guaman Castro, Max Spero, Maximilian Du, Michael Ahn, Michael C. Yip, Mingtong Zhang 0003, Mingyu Ding, Minho Heo, Mohan Kumar Srirama, Mohit Sharma 0001, Moo Jin Kim, Naoaki Kanazawa, Nicklas Hansen 0001, Nicolas Heess, Nikhil J. Joshi, Niko Sünderhauf, Norman Di Palo, Nur Muhammad Shafiullah, Oier Mees, Oliver Kroemer, Osbert Bastani, Pannag R. Sanketi, Patrick Tree Miller, Patrick Yin, Paul Wohlhart, Peng Xu 0010, Peter David Fagan, Peter Mitrano, Pierre Sermanet, Pieter Abbeel, Priya Sundaresan, Qiuyu Chen, Rafael Rafailov, Ria Doshi, Roberto Martin Martin, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante-Gomez, Sean Kirmani, Sergey Levine, Sherry Moore, Shikhar Bahl, Shivin Dass, Shubham D. Sonawani, Shuran Song, Sichun Xu, Siddhant Haldar, Siddharth Karamcheti, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Subramanian Ramamoorthy, Sudeep Dasari, Suneel Belkhale, Sungjae Park, Suraj Nair 0003, Suvir Mirchandani, Takayuki Osa, Tanmay Gupta, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Thomas Kollar, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Trinity Chung, Vidhi Jain, Vincent Vanhoucke, Wolfram Burgard, Xiaolong Wang 0004, Xinghao Zhu, Xinyang Geng, Liangwei Xu, Yecheng Jason Ma 0001, Yejin Kim 0003, Yevgen Chebotar, Yilin Wu 0003, Yonatan Bisk, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yueh-Hua Wu, Yujin Tang, Yuke Zhu, Yunchu Zhang, Yunfan Jiang 0001, Yunshuang Li, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zehan Ma, Zichen Jeff Cui, Zichen Zhang 0016, Zipeng Lin	ICRA	80
2024	Geometric-Averaged Preference Optimization for Soft Preference Labels abstract Many algorithms for aligning LLMs with human preferences assume that human preferences are binary and deterministic. However, human preferences can vary across individuals, and therefore should be represented distributionally. In this work, we introduce the distributional soft preference labels and improve Direct Preference Optimization (DPO) with a weighted geometric average of the LLM output likelihood in the loss function. This approach adjusts the scale of learning loss based on the soft labels such that the loss would approach zero when the responses are closer to equally preferred. This simple modification can be easily applied to any DPO-based methods and mitigate over-optimization and objective mismatch, which prior works suffer from. Our experiments simulate the soft preference labels with AI feedback from LLMs and demonstrate that geometric averaging consistently improves performance on standard benchmarks for alignment research. In particular, we observe more preferable responses than binary labels and significant improvements where modestly-confident labels are in the majority. Hiroki Furuta, Kuang-Huei Lee, Shixiang Gu, Yutaka Matsuo, Aleksandra Faust, Heiga Zen, Izzeddin Gur	NeurIPS	1
2023	A System for Morphology-Task Generalization via Unified Representation and Behavior Distillation Hiroki Furuta, Yusuke Iwasawa, Yutaka Matsuo, Shixiang Gu	ICLR	1
2022	Generalized Decision Transformer for Offline Hindsight Information Matching Hiroki Furuta, Yutaka Matsuo, Shixiang Gu	ICLR	1
2021	Deployment-Efficient Reinforcement Learning via Model-Based Offline Optimization Tatsuya Matsushima, Hiroki Furuta, Yutaka Matsuo, Ofir Nachum, Shixiang Gu	ICLR	2
2021	Policy Information Capacity: Information-Theoretic Measure for Task Complexity in Deep Reinforcement Learning abstract Progress in deep reinforcement learning (RL) research is largely enabled by benchmark task environments. However, analyzing the nature of those environments is often overlooked. In particular, we still do not have agreeable ways to measure the difficulty or solvability of a task, given that each has fundamentally different actions, observations, dynamics, rewards, and can be tackled with diverse RL algorithms. In this work, we propose policy information capacity (PIC) – the mutual information between policy parameters and episodic return – and policy-optimal information capacity (POIC) – between policy parameters and episodic optimality – as two environment-agnostic, algorithm-agnostic quantitative metrics for task difficulty. Evaluating our metrics across toy environments as well as continuous control benchmark tasks from OpenAI Gym and DeepMind Control Suite, we empirically demonstrate that these information-theoretic metrics have higher correlations with normalized task solvability scores than a variety of alternatives. Lastly, we show that these metrics can also be used for fast and compute-efficient optimizations of key design parameters such as reward shaping, policy architectures, and MDP properties for better solvability by RL algorithms without ever running full RL experiments. Hiroki Furuta, Tatsuya Matsushima, Tadashi Kozuno, Yutaka Matsuo, Sergey Levine, Ofir Nachum, Shixiang Gu	ICML	1
2021	Co-Adaptation of Algorithmic and Implementational Innovations in Inference-based Deep Reinforcement Learning abstract Recently many algorithms were devised for reinforcement learning (RL) with function approximation. While they have clear algorithmic distinctions, they also have many implementation differences that are algorithm-independent and sometimes under-emphasized. Such mixing of algorithmic novelty and implementation craftsmanship makes rigorous analyses of the sources of performance improvements across algorithms difficult. In this work, we focus on a series of off-policy inference-based actor-critic algorithms -- MPO, AWR, and SAC -- to decouple their algorithmic innovations and implementation decisions. We present unified derivations through a single control-as-inference objective, where we can categorize each algorithm as based on either Expectation-Maximization (EM) or direct Kullback-Leibler (KL) divergence minimization and treat the rest of specifications as implementation details. We performed extensive ablation studies, and identified substantial performance drops whenever implementation details are mismatched for algorithmic choices. These results show which implementation or code details are co-adapted and co-evolved with algorithms, and which are transferable across algorithms: as examples, we identified that tanh Gaussian policy and network sizes are highly adapted to algorithmic types, while layer normalization and ELU are critical for MPO's performances but also transfer to noticeable gains in SAC. We hope our work can inspire future work to further demystify sources of performance improvements across multiple algorithms and allow researchers to build on one another's both algorithmic and implementational innovations. Hiroki Furuta, Tadashi Kozuno, Tatsuya Matsushima, Yutaka Matsuo, Shixiang Gu	NeurIPS	1