VeGAS improves MLLM-based embodied agents by sampling action ensembles and using a verifier trained on LLM-synthesized failure cases, yielding up to 36% relative gains on hard multi-object long-horizon tasks in Habitat and ALFRED.
When to solve, when to verify: Compute-optimal problem solving and generative verification for llm reasoning
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Think Twice, Act Once: Verifier-Guided Action Selection For Embodied Agents
VeGAS improves MLLM-based embodied agents by sampling action ensembles and using a verifier trained on LLM-synthesized failure cases, yielding up to 36% relative gains on hard multi-object long-horizon tasks in Habitat and ALFRED.