# RAG-Modulo: Solving Sequential Tasks using Experience, Critics, and Language Models

arXiv: https://arxiv.org/abs/2409.12294 · HTML: https://mlsanity.com/paper/2409.12294/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Agent memory systems, one of 16 directions in LLM agents and tool use.
- Builds on 38 of its 50 references that are in the map.
- First posted on arXiv 18 Sep 2024.

## Placed in

- LLM agents and tool use / [Agent memory systems](https://mlsanity.com/agents/agent-memory-systems/)

## Builds on (most cited first, 30 of 38)

- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Lost in the Middle: How Language Models Use Long Contexts](https://mlsanity.com/paper/2307.03172/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [Language Models as Knowledge Bases?](https://mlsanity.com/paper/1909.01066/) (2019)
- [Least-to-Most Prompting Enables Complex Reasoning in Large Language Models](https://mlsanity.com/paper/2205.10625/) (2022)
- [Improving language models by retrieving from trillions of tokens](https://mlsanity.com/paper/2112.04426/) (2021)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [How Can We Know What Language Models Know?](https://mlsanity.com/paper/1911.12543/) (2019)
- [Atlas: Few-shot Learning with Retrieval Augmented Language Models](https://mlsanity.com/paper/2208.03299/) (2022)
- [ExpeL: LLM Agents Are Experiential Learners](https://mlsanity.com/paper/2308.10144/) (2023)
- [Large Language Models Can Be Easily Distracted by Irrelevant Context](https://mlsanity.com/paper/2302.00093/) (2023)
- [REPLUG: Retrieval-Augmented Black-Box Language Models](https://mlsanity.com/paper/2301.12652/) (2023)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [How Much Knowledge Can You Pack Into the Parameters of a Language Model?](https://mlsanity.com/paper/2002.08910/) (2020)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Active Retrieval Augmented Generation](https://mlsanity.com/paper/2305.06983/) (2023)
- [robosuite: A Modular Simulation Framework and Benchmark for Robot Learning](https://mlsanity.com/paper/2009.12293/) (2020)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations](https://mlsanity.com/paper/2310.17596/) (2023)
- [ChatGPT for Robotics: Design Principles and Model Abilities](https://mlsanity.com/paper/2306.17582/) (2023)
- [Integrated Task and Motion Planning](https://mlsanity.com/paper/2010.01083/) (2020)
- [BabyAI: A Platform to Study the Sample Efficiency of Grounded Language Learning](https://mlsanity.com/paper/1810.08272/) (2018)
- [Text2Motion: From Natural Language Instructions to Feasible Plans](https://mlsanity.com/paper/2303.12153/) (2023)
- [Grounding Large Language Models in Interactive Environments with Online Reinforcement Learning](https://mlsanity.com/paper/2302.02662/) (2023)
- [LLMs Can't Plan, But Can Help Planning in LLM-Modulo Frameworks](https://mlsanity.com/paper/2402.01817/) (2024)

## Built on by (most cited first, 1 of 1)

- [Hierarchical Planning for Complex Tasks with Knowledge Graph-RAG and Symbolic Verification](https://mlsanity.com/paper/2504.04578/) (2025)

## Abstract (arXiv)

Large language models (LLMs) have recently emerged as promising tools for solving challenging robotic tasks, even in the presence of action and observation uncertainties. Recent LLM-based decision-making methods (also referred to as LLM-based agents), when paired with appropriate critics, have demonstrated potential in solving complex, long-horizon tasks with relatively few interactions. However, most existing LLM-based agents lack the ability to retain and learn from past interactions - an essential trait of learning-based robotic systems. We propose RAG-Modulo, a framework that enhances LLM-based agents with a memory of past interactions and incorporates critics to evaluate the agents' decisions. The memory component allows the agent to automatically retrieve and incorporate relevant past experiences as in-context examples, providing context-aware feedback for more informed decision-making. Further by updating its memory, the agent improves its performance over time, thereby exhibiting learning. Through experiments in the challenging BabyAI and AlfWorld domains, we demonstrate significant improvements in task success rates and efficiency, showing that the proposed RAG-Modulo framework outperforms state-of-the-art baselines.