# DORA Explorer: Improving the Exploration Ability of LLMs Without Training

arXiv: https://arxiv.org/abs/2604.17244 · HTML: https://mlsanity.com/paper/2604.17244/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 33 of its 42 references that are in the map.
- First posted on arXiv 19 Apr 2026.

## Builds on (most cited first, 30 of 33)

- [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)
- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [The Curious Case of Neural Text Degeneration](https://mlsanity.com/paper/1904.09751/) (2019)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [A Survey on Large Language Model based Autonomous Agents](https://mlsanity.com/paper/2308.11432/) (2023)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [Hierarchical Neural Story Generation](https://mlsanity.com/paper/1805.04833/) (2018)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Reinforcement Learning with Deep Energy-Based Policies](https://mlsanity.com/paper/1702.08165/) (2017)
- [Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Review](https://mlsanity.com/paper/1805.00909/) (2018)
- [ScienceWorld: Is your Agent Smarter than a 5th Grader?](https://mlsanity.com/paper/2203.07540/) (2022)
- [TextWorld: A Learning Environment for Text-based Games](https://mlsanity.com/paper/1806.11532/) (2018)
- [The Effect of Sampling Temperature on Problem Solving in Large Language Models](https://mlsanity.com/paper/2402.05201/) (2024)
- [Interactive Fiction Games: A Colossal Adventure](https://mlsanity.com/paper/1909.05398/) (2019)
- [Turning Up the Heat: Min-p Sampling for Creative and Coherent LLM Outputs](https://mlsanity.com/paper/2407.01082/) (2024)
- [A Thorough Examination of Decoding Methods in the Era of LLMs](https://mlsanity.com/paper/2402.06925/) (2024)
- [Verbalized Sampling: How to Mitigate Mode Collapse and Unlock LLM Diversity](https://mlsanity.com/paper/2510.01171/) (2025)
- [Towards Scientific Intelligence: A Survey of LLM-based Scientific Agents](https://mlsanity.com/paper/2503.24047/) (2025)
- [GameBench: Evaluating Strategic Reasoning Abilities of LLM Agents](https://mlsanity.com/paper/2406.06613/) (2024)
- [Is Temperature the Creativity Parameter of Large Language Models?](https://mlsanity.com/paper/2405.00492/) (2024)
- [Can large language models explore in-context?](https://mlsanity.com/paper/2403.15371/) (2024)
- [Factual Confidence of LLMs: on Reliability and Robustness of Current Estimators](https://mlsanity.com/paper/2406.13415/) (2024)
- [LLMs are Greedy Agents: Effects of RL Fine-tuning on Decision-Making Abilities](https://mlsanity.com/paper/2504.16078/) (2025)
- [EVOLvE: Evaluating and Optimizing LLMs For In-Context Exploration](https://mlsanity.com/paper/2410.06238/) (2024)
- [Training a Generally Curious Agent](https://mlsanity.com/paper/2502.17543/) (2025)
- [Controlling Large Language Model Agents with Entropic Activation Steering](https://mlsanity.com/paper/2406.00244/) (2024)
- [Control the Temperature: Selective Sampling for Diverse and High-Quality LLM Outputs](https://mlsanity.com/paper/2510.01218/) (2025)
- [TextWorldExpress: Simulating Text Games at One Million Steps Per Second](https://mlsanity.com/paper/2208.01174/) (2022)

## Abstract (arXiv)

Large language model (LLM) agents for sequential decision-making struggle to produce diverse outputs. This leads to insufficient exploration, suboptimal solutions, and repeated actions. Actions are generated at the sequence level, but existing sampling strategies, such as temperature scaling, introduce diversity at the token level, not at the sequence level. We introduce DORA EXPLORER (Diversity-Oriented Ranking of Actions), a training-free, inference-time algorithm for improving exploration in LLM agents. DORA generates multiple candidate actions, scores them using sequence-level log-probability statistics, and samples an action via a tunable exploration parameter. We first study exploration in the classic Multi-Armed Bandit setting, where DORA substantially outperforms temperature-based sampling. Our main evaluation is on the Text Adventure Learning Environment Suite (TALES), where prompting strategies fail to explore but DORA delivers consistent gains across model families, e.g., 31.43% (ReAct) -> 45.5% (DORA) for Qwen-2.5 7B in TextWorld. Beyond exploration, DORA prevents common failures, such as getting stuck in loops. Our project is available at: https://dora-explore.github.io/.