# MIRA: Memory-Integrated Reinforcement Learning Agent with Limited LLM Guidance

arXiv: https://arxiv.org/abs/2602.17930 · HTML: https://mlsanity.com/paper/2602.17930/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Agent memory systems, one of 16 directions in LLM agents and tool use.
- Builds on 85 of its 108 references that are in the map.
- First posted on arXiv 20 Feb 2026.

## Placed in

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

## Builds on (most cited first, 30 of 85)

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- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
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- [SWE-bench: Can Language Models Resolve Real-World GitHub Issues?](https://mlsanity.com/paper/2310.06770/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Asynchronous Methods for Deep Reinforcement Learning](https://mlsanity.com/paper/1602.01783/) (2016)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [Survey of Hallucination in Natural Language Generation](https://mlsanity.com/paper/2202.03629/) (2022)
- [High-Dimensional Continuous Control Using Generalized Advantage Estimation](https://mlsanity.com/paper/1506.02438/) (2015)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Calibrate Before Use: Improving Few-Shot Performance of Language Models](https://mlsanity.com/paper/2102.09690/) (2021)
- [Offline Reinforcement Learning with Implicit Q-Learning](https://mlsanity.com/paper/2110.06169/) (2021)
- [Mastering Diverse Domains through World Models](https://mlsanity.com/paper/2301.04104/) (2023)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Prioritized Experience Replay](https://mlsanity.com/paper/1511.05952/) (2015)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Advantage-Weighted Regression: Simple and Scalable Off-Policy Reinforcement Learning](https://mlsanity.com/paper/1910.00177/) (2019)
- [Deep Reinforcement Learning that Matters](https://mlsanity.com/paper/1709.06560/) (2017)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [Eureka: Human-Level Reward Design via Coding Large Language Models](https://mlsanity.com/paper/2310.12931/) (2023)
- [MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge](https://mlsanity.com/paper/2206.08853/) (2022)
- [Deep Recurrent Q-Learning for Partially Observable MDPs](https://mlsanity.com/paper/1507.06527/) (2015)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [Curriculum Learning for Reinforcement Learning Domains: A Framework and Survey](https://mlsanity.com/paper/2003.04960/) (2020)
- [Transformers are Sample-Efficient World Models](https://mlsanity.com/paper/2209.00588/) (2022)
- [Minigrid & Miniworld: Modular & Customizable Reinforcement Learning Environments for Goal-Oriented Tasks](https://mlsanity.com/paper/2306.13831/) (2023)

## Abstract (arXiv)

Reinforcement learning (RL) agents often suffer from high sample complexity in sparse or delayed reward settings due to limited prior structure. Large language models (LLMs) can provide subgoal decompositions, plausible trajectories, and abstract priors that facilitate early learning. However, heavy reliance on LLM supervision introduces scalability constraints and dependence on potentially unreliable signals. We propose MIRA (Memory-Integrated Reinforcement Learning Agent), which incorporates a structured, evolving memory graph to guide early training. The graph stores decision-relevant information, including trajectory segments and subgoal structures, and is constructed from both the agent's high-return experiences and LLM outputs. This design amortizes LLM queries into a persistent memory rather than requiring continuous real-time supervision. From this memory graph, we derive a utility signal that softly adjusts advantage estimation to influence policy updates without modifying the underlying reward function. As training progresses, the agent's policy gradually surpasses the initial LLM-derived priors, and the utility term decays, preserving standard convergence guarantees. We provide theoretical analysis showing that utility-based shaping improves early-stage learning in sparse-reward environments. Empirically, MIRA outperforms RL baselines and achieves returns comparable to approaches that rely on frequent LLM supervision, while requiring substantially fewer online LLM queries. Project webpage: https://narjesno.github.io/MIRA/