Conference Publications

1. Gouki Minegishi, Hiroki Furuta, Yusuke Iwasawa, Yutaka Matsuo.
   Rethinking Evaluation of Sparse Autoencoders through the Representation of Polysemous Words
   International Conference on Learning Representations (ICLR 2025).
   [arxiv] [code]

2. Hiroki Furuta, Kuang-Huei Lee, Shixiang Shane Gu, Yutaka Matsuo, Aleksandra Faust, Heiga Zen, Izzeddin Gur.
   Geometric-Averaged Preference Optimization for Soft Preference Labels
   Neural Information Processing Systems (NeurIPS 2024).
   [arxiv]

3. Kuang-Huei Lee, Xinyun Chen, Hiroki Furuta, John Canny, Ian Fischer.
   A Human-Inspired Reading Agent with Gist Memory of Very Long Contexts
   International Conference on Machine Learning (ICML 2024).
   [arxiv] [website]

4. Open X-Embodiment Collaboration, et al. (including Hiroki Furuta)
   Open X-Embodiment: Robotic Learning Datasets and RT-X Models
   IEEE International Conference on Robotics and Automation (ICRA 2024) (Best Conference Paper Award).
   [arxiv] [website]

5. Izzeddin Gur*, Hiroki Furuta*, Austin Huang, Mustafa Safdari, Yutaka Matsuo, Douglas Eck, Aleksandra Faust. (*Equal Contribution)
   A Real-World WebAgent with Planning, Long Context Understanding, and Program Synthesis
   International Conference on Learning Representations (ICLR 2024) (Oral, 1.2% of 7262 submissions).
   [arxiv]

6. Hiroki Furuta, Kuang-Huei Lee, Ofir Nachum, Yutaka Matsuo, Aleksandra Faust, Shixiang Shane Gu, Izzeddin Gur.
   Multimodal Web Navigation with Instruction-Finetuned Foundation Models
   International Conference on Learning Representations (ICLR 2024).
   [arxiv] [website]

7. Hiroki Furuta, Yusuke Iwasawa, Yutaka Matsuo, Shixiang Shane Gu.
   A System for Morphology-Task Generalization via Unified Representation and Behavior Distillation
   International Conference on Learning Representations (ICLR 2023) (Notable-top-25%, 8.0% of 4966 submissions).
   [arxiv] [code] [website]

8. Hiroki Furuta, Yutaka Matsuo, Shixiang Shane Gu.
   Generalized Decision Transformer for Offline Hindsight Information Matching
   International Conference on Learning Representations (ICLR 2022) (Spotlight, 6.8% of 3391 submissions).
   [arxiv] [code] [website]

9. Hiroki Furuta, Tadashi Kozuno, Tatsuya Matsushima, Yutaka Matsuo, Shixiang Shane Gu.
   Co-Adaptation of Algorithmic and Implementational Innovations in Inference-based Deep Reinforcement Learning
   Neural Information Processing Systems (NeurIPS 2021).
   [arxiv] [code]

10. Hiroki Furuta, Tatsuya Matsushima, Tadashi Kozuno, Yutaka Matsuo, Sergey Levine, Ofir Nachum, Shixiang Shane Gu.
    Policy Information Capacity: Information-Theoretic Measure for Task Complexity in Deep Reinforcement Learning
    International Conference on Machine Learning (ICML 2021).
    [arxiv] [code]

11. Tatsuya Matsushima*, Hiroki Furuta*, Yutaka Matsuo, Ofir Nachum, Shixiang Gu. (*Equal Contribution)
    Deployment-Efficient Reinforcement Learning via Model-Based Offline Optimization
    International Conference on Learning Representations (ICLR 2021).
    [openreview] [code]

Journal Publications

1. Hiroki Furuta, Yutaka Matsuo, Aleksandra Faust, Izzeddin Gur.
   Exposing Limitations of Language Model Agents in Sequential-Task Compositions on the Web
   Transactions on Machine Learning Research (TMLR), 2024.
   [arxiv] [code]

2. Hiroki Furuta, Gouki Minegishi, Yusuke Iwasawa, Yutaka Matsuo.
   Towards Empirical Interpretation of Internal Circuits and Properties in Grokked Transformers on Modular Polynomials
   Transactions on Machine Learning Research (TMLR), 2024.
   [arxiv] [code]

3. So Kuroki, Tatsuya Matsushima, Junpei Arima, Hiroki Furuta, Yutaka Matsuo, Shixiang Shane Gu, Yujin Tang.
   Collective Intelligence for 2D Push Manipulations With Mobile Robots
   IEEE Robotics and Automation Letters (RA-L), 2023.
   [paper]

Preprints

1. Lutfi Eren Erdogan, Nicholas Lee, Sehoon Kim, Suhong Moon, Hiroki Furuta, Gopala Anumanchipalli, Kurt Keutzer, Amir Gholami.
   Plan-and-Act: Improving Planning of Agents for Long-Horizon Tasks
   arXiv preprint arXiv:2503.09572, 2025.
   [arxiv]

2. Yuta Oshima, Masahiro Suzuki, Yutaka Matsuo, Hiroki Furuta.
   Inference-Time Text-to-Video Alignment with Diffusion Latent Beam Search
   arXiv preprint arXiv:2501.19252, 2025.
   [arxiv]

3. Hiroki Furuta, Heiga Zen, Dale Schuurmans, Aleksandra Faust, Yutaka Matsuo, Percy Liang, Sherry Yang.
   Improving Dynamic Object Interactions in Text-to-Video Generation with AI Feedback
   arXiv preprint arXiv:2412.02617, 2024.
   [arxiv] [website]

4. Shixiang Shane Gu, Manfred Diaz, C. Daniel Freeman, Hiroki Furuta, Seyed Kamyar Seyed Ghasemipour, Anton Raichuk, Byron David, Erik Frey, Erwin Coumans, Olivier Bachem.
   Braxlines: Fast and Interactive Toolkit for RL-driven Behavior Generation Beyond Reward Maximization
   arXiv preprint arXiv:2110.04686, 2021.
   [arxiv] [code]

Workshop Presentations

1. Gouki Minegishi, Hiroki Furuta, Shohei Taniguchi, Yusuke Iwasawa, Yutaka Matsuo.
   In-Context Meta Learning Induces Multi-Phase Circuit Emergence
   ICLR 2025 Workshop on Building Trust in Language Models and Applications $^{*}$.

2. Kuang-Huei Lee, Xinyun Chen, Hiroki Furuta, John Canny, Ian Fischer.
   A Human-Inspired Reading Agent with Gist Memory of Very Long Contexts
   ICLR 2024 Workshop on Large Language Model (LLM) Agents $^{*}$

3. Hiroki Furuta, Gouki Minegishi, Yusuke Iwasawa, Yutaka Matsuo.
   Interpreting Grokked Transformers in Complex Modular Arithmetic
   ICLR 2024 Workshop Bridging the Gap Between Practice and Theory in Deep Learning $^{*}$ (Oral).

4. Hiroki Furuta, Yutaka Matsuo, Aleksandra Faust, Izzeddin Gur.
   Exposing Limitations of Language Model Agents in Sequential-Task Compositions on the Web
   NeurIPS 2023 Foundation Models for Decision Making Workshop $^{*}$
   ICLR 2024 Workshop on Large Language Model (LLM) Agents $^{*}$

5. Open X-Embodiment Collaboration, et al.
   Open X-Embodiment: Robotic Learning Datasets and RT-X Models
   CoRL 2023 2nd Workshop on Language and Robot Learning (LangRob): Language as Grounding $^{*}$
   CoRL 2023 Towards Generalist Robots: Learning Paradigms for Scalable Skill Acquisition $^{*}$ (Oral)
   NeurIPS 2023 6th Robot Learning Workshop: Pretraining, Fine-Tuning, and Generalization with Large Scale Models $^{*}$.

6. Hiroki Furuta, Ofir Nachum, Kuang-Huei Lee, Yutaka Matsuo, Shixiang Shane Gu, Izzeddin Gur.
   Instruction-Finetuned Foundation Models for Multimodal Web Navigation
   ICLR 2023 Workshop on Multimodal Representation Learning $^{*}$ (Spotlight)
   ICLR 2023 Workshop on Mathematical and Empirical Understanding of Foundation Models $^{*}$
   ICLR 2023 Workshop on Reincarnating Reinforcement Learning $^{*}$.

7. Hiroki Furuta, Yusuke Iwasawa, Yutaka Matsuo, Shixiang Shane Gu.
   Control Graph as Unified IO for Morphology-Task Generalization
   NeurIPS 2022 3rd Offline Reinforcement Learning Workshop: Offline RL as a “Launchpad” $^{*}$ (Contributed Talk)
   NeurIPS 2022 Foundation Models for Decision Making Workshop $^{*}$.

8. Hiroki Furuta, Yutaka Matsuo, Shixiang Shane Gu.
   Generalized Decision Transformer for Offline Hindsight Information Matching
   NeurIPS 2021 Deep Reinforcement Learning Workshop $^{*}$.

9. Hiroki Furuta, Tatsuya Matsushima, Tadashi Kozuno, Yutaka Matsuo, Sergey Levine, Ofir Nachum, Shixiang Shane Gu.
   Policy Information Capacity: Information-Theoretic Measure for Task Complexity in Deep Reinforcement Learning
   ICLR 2021 Workshop on Never-Ending RL $^{*}$ (Contributed Talk).

10. Hiroki Furuta, Tadashi Kozuno, Tatsuya Matsushima, Yutaka Matsuo, Shixiang Shane Gu.
    A Unified View of Inference-based Off-Policy RL: Decoupling Algorithmic and Implementational Sources of Performance Differences
    NeurIPS 2020 Deep Reinforcement Learning Workshop $^{*}$.

11. Tatsuya Matsushima*, Hiroki Furuta*, Yutaka Matsuo, Ofir Nachum, Shixiang Gu. (*Equal Contribution)
    Deployment-Efficient Reinforcement Learning via Model-Based Offline Optimization
    NeurIPS 2020 Offline Reinforcement Learning Workshop $^{*}$,
    Bay Area Machine Learning Symposium 2020 $^{*}$.