Daily Papers

As code large language models (LLMs) evolve into tool-interactive agents via the Model Context Protocol (MCP), their generalization is increasingly limited by low-quality synthetic data and the diminishing returns of quantity scaling. Moreover, quantity-centric scaling exhibits an early bottleneck that underutilizes trajectory data. We propose TDScaling, a Trajectory Diversity Scaling-based data synthesis framework for code agents that scales performance through diversity rather than raw volume. Under a fixed training budget, increasing trajectory diversity yields larger gains than adding more trajectories, improving the performance-cost trade-off for agent training. TDScaling integrates four innovations: (1) a Business Cluster mechanism that captures real-service logical dependencies; (2) a blueprint-driven multi-agent paradigm that enforces trajectory coherence; (3) an adaptive evolution mechanism that steers synthesis toward long-tail scenarios using Domain Entropy, Reasoning Mode Entropy, and Cumulative Action Complexity to prevent mode collapse; and (4) a sandboxed code tool that mitigates catastrophic forgetting of intrinsic coding capabilities. Experiments on general tool-use benchmarks (BFCL, tau^2-Bench) and code agent tasks (RebenchT, CodeCI, BIRD) demonstrate a win-win outcome: TDScaling improves both tool-use generalization and inherent coding proficiency. We plan to release the full codebase and the synthesized dataset (including 30,000+ tool clusters) upon publication.

State Space Models (SSMs) have become the leading alternative to Transformers for sequence modeling. Their primary advantage is efficiency in long-context and long-form generation, enabled by fixed-size memory and linear scaling of computational complexity. We begin this work by showing a simple theoretical result stating that SSMs cannot accurately solve any ``truly long-form'' generation problem (in a sense we formally define), undermining their main competitive advantage. However, we show that this limitation can be mitigated by allowing SSMs interactive access to external tools. In fact, we show that given the right choice of tool access and problem-dependent training data, SSMs can learn to solve any tractable problem and generalize to arbitrary problem length/complexity (i.e., achieve length generalization). Following our theoretical finding, we demonstrate that tool-augmented SSMs achieve remarkable length generalization on a variety of arithmetic, reasoning, and coding tasks. These findings highlight SSMs as a potential efficient alternative to Transformers in interactive tool-based and agentic settings.

Current Large Language Models (LLMs) often undergo supervised fine-tuning (SFT) to acquire tool use capabilities. However, SFT struggles to generalize to unfamiliar or complex tool use scenarios. Recent advancements in reinforcement learning (RL), particularly with R1-like models, have demonstrated promising reasoning and generalization abilities. Yet, reward design for tool use presents unique challenges: multiple tools may be invoked with diverse parameters, and coarse-grained reward signals, such as answer matching, fail to offer the finegrained feedback required for effective learning. In this work, we present the first comprehensive study on reward design for tool selection and application tasks within the RL paradigm. We systematically explore a wide range of reward strategies, analyzing their types, scales, granularity, and temporal dynamics. Building on these insights, we propose a principled reward design tailored for tool use tasks and apply it to train LLMs using Group Relative Policy Optimization (GRPO). Empirical evaluations across diverse benchmarks demonstrate that our approach yields robust, scalable, and stable training, achieving a 17% improvement over base models and a 15% gain over SFT models. These results highlight the critical role of thoughtful reward design in enhancing the tool use capabilities and generalization performance of LLMs. All the codes are released to facilitate future research.

Recently, large language models (LLMs) have demonstrated remarkable problem-solving capabilities by autonomously integrating with external tools for collaborative reasoning. However, due to the inherently complex and diverse nature of multimodal information, enabling multimodal large language models (MLLMs) to flexibly and efficiently utilize external tools during reasoning remains an underexplored challenge. In this work, we introduce ToolScope, an agentic framework designed to unify global planning with local multimodal perception, adopting a specialized Perceive tool to mitigates visual context degradation in long-horizon VQA task. ToolScope comprises three primary components: the Global Navigator, the Agentic Executor, and the Response Synthesizer. The Global Navigator functions as a "telescope", offering high-level strategic guidance. The Agentic Executor operates iteratively to augment MLLM with local perception through the integration of external tools-Search, Code, and Perceive. Finally, the Response Synthesizer consolidates and organizes the reasoning process into a coherent, user-friendly output. We evaluate ToolScope on four VQA benchmarks across diverse domains, including VQA 2.0, ScienceQA, MAT-Search and MathVista. It demonstrates strong generalization capabilities, achieving an average performance improvement of up to +6.69% across all datasets.

Large language models (LLMs) have shown promising capabilities in using external tools to solve complex problems. However, existing approaches either involve fine-tuning on tool demonstrations, which do not generalize to new tools without additional training, or providing tool documentation in context, limiting the number of tools. Both approaches often generate syntactically invalid tool calls. In this paper, we propose ToolDec, a finite-state machine-guided decoding algorithm for tool-augmented LLMs. ToolDec eliminates tool-related errors for any tool-augmented LLMs by ensuring valid tool names and type-conforming arguments. Furthermore, ToolDec enables LLM to effectively select tools using only the information contained in their names, with no need for fine-tuning or in-context documentation. We evaluated multiple prior methods and their ToolDec-enhanced versions on a variety of tasks involving tools like math functions, knowledge graph relations, and complex real-world RESTful APIs. Our experiments show that ToolDec reduces syntactic errors to zero, consequently achieving significantly better performance and as much as a 2x speedup. We also show that ToolDec achieves superior generalization performance on unseen tools, performing up to 8x better than the baselines.

Enabling Large Language Models (LLMs) to effectively utilize tools in multi-turn interactions is essential for building capable autonomous agents. However, acquiring diverse and realistic multi-turn tool-use data remains a significant challenge. In this work, we propose a novel text-based paradigm. We observe that textual corpora naturally contain rich, multi-step problem-solving experiences, which can serve as an untapped, scalable, and authentic data source for multi-turn tool-use tasks. Based on this insight, we introduce GEM, a data synthesis pipeline that enables the generation and extraction of multi-turn tool-use trajectories from text corpora through a four-stage process: relevance filtering, workflow & tool extraction, trajectory grounding, and complexity refinement. To reduce the computational cost, we further train a specialized Trajectory Synthesizer via supervised fine-tuning. This model distills the complex generation pipeline into an efficient, end-to-end trajectory generator. Experiments demonstrate that our GEM-32B achieve a 16.5% improvement on the BFCL V3 Multi-turn benchmark. Our models partially surpass the performance of models trained on τ - bench (Airline and Retail) in-domain data, highlighting the superior generalization capability derived from our text-based synthesis paradigm. Notably, our Trajectory Synthesizer matches the quality of the full pipeline while significantly reducing inference latency and costs.

While reinforcement learning (RL) shows promise in training tool-use large language models (LLMs) using verifiable outcome rewards, existing methods largely overlook the potential of explicit reasoning rewards to bolster reasoning and tool utilization. Furthermore, natively combining reasoning and outcome rewards may yield suboptimal performance or conflict with the primary optimization objective. To address this, we propose advantage-weighted policy optimization (AWPO) -- a principled RL framework that effectively integrates explicit reasoning rewards to enhance tool-use capability. AWPO incorporates variance-aware gating and difficulty-aware weighting to adaptively modulate advantages from reasoning signals based on group-relative statistics, alongside a tailored clipping mechanism for stable optimization. Extensive experiments demonstrate that AWPO achieves state-of-the-art performance across standard tool-use benchmarks, significantly outperforming strong baselines and leading closed-source models in challenging multi-turn scenarios. Notably, with exceptional parameter efficiency, our 4B model surpasses Grok-4 by 16.0 percent in multi-turn accuracy while preserving generalization capability on the out-of-distribution MMLU-Pro benchmark.

Training generalist agents capable of adapting to diverse scenarios requires interactive environments for self-exploration. However, interactive environments remain critically scarce, and existing synthesis methods suffer from significant limitations regarding environmental diversity and scalability. To address these challenges, we introduce ScaleEnv, a framework that constructs fully interactive environments and verifiable tasks entirely from scratch. Specifically, ScaleEnv ensures environment reliability through procedural testing, and guarantees task completeness and solvability via tool dependency graph expansion and executable action verification. By enabling agents to learn through exploration within ScaleEnv, we demonstrate significant performance improvements on unseen, multi-turn tool-use benchmarks such as τ^2-Bench and VitaBench, highlighting strong generalization capabilities. Furthermore, we investigate the relationship between increasing number of domains and model generalization performance, providing empirical evidence that scaling environmental diversity is critical for robust agent learning.

Enabling Large Language Models (LLMs) to reliably invoke external tools remains a critical bottleneck for autonomous agents. Existing approaches suffer from three fundamental challenges: expensive human annotation for high-quality trajectories, poor generalization to unseen tools, and quality ceilings inherent in single-model synthesis that perpetuate biases and coverage gaps. We introduce InfTool, a fully autonomous framework that breaks these barriers through self-evolving multi-agent synthesis. Given only raw API specifications, InfTool orchestrates three collaborative agents (User Simulator, Tool-Calling Assistant, and MCP Server) to generate diverse, verified trajectories spanning single-turn calls to complex multi-step workflows. The framework establishes a closed loop: synthesized data trains the model via Group Relative Policy Optimization (GRPO) with gated rewards, the improved model generates higher-quality data targeting capability gaps, and this cycle iterates without human intervention. Experiments on the Berkeley Function-Calling Leaderboard (BFCL) demonstrate that InfTool transforms a base 32B model from 19.8% to 70.9% accuracy (+258%), surpassing models 10x larger and rivaling Claude-Opus, and entirely from synthetic data without human annotation.

The performance of LLM-based agents depends not only on the agent itself but also on the quality of the tool interfaces it consumes. While prior work has focused heavily on agent fine-tuning, tool interfaces-including natural language descriptions and parameter schemas-remain largely human-oriented and often become a bottleneck, especially when agents must select from large candidate tool sets. Existing approaches to improving tool interfaces rely on execution traces, which are frequently unavailable in cold-start or privacy-constrained settings, and typically optimize each tool independently, limiting scalability and generalization to unseen tools. We propose Trace-Free+, a curriculum learning framework that progressively transfers supervision from trace-rich settings to trace-free deployment, encouraging the model to abstract reusable interface-usage patterns and tool usage outcomes. To support this approach, we construct a large-scale dataset of high-quality tool interfaces using a structured workflow over a diverse collection of tools. Experiments on StableToolBench and RestBench show consistent gains on unseen tools, strong cross-domain generalization, and robustness as the number of candidate tools scales to over 100, demonstrating that tool interface optimization is a practical and deployable complement to agent fine-tuning.

Autonomous agents based on large language models (LLMs) are rapidly evolving to handle multi-turn tasks, but ensuring their trustworthiness remains a critical challenge. A fundamental pillar of this trustworthiness is calibration, which refers to an agent's ability to express confidence that reliably reflects its actual performance. While calibration is well-established for static models, its dynamics in tool-integrated agentic workflows remain underexplored. In this work, we systematically investigate verbalized calibration in tool-use agents, revealing a fundamental confidence dichotomy driven by tool type. Specifically, our pilot study identifies that evidence tools (e.g., web search) systematically induce severe overconfidence due to inherent noise in retrieved information, while verification tools (e.g., code interpreters) can ground reasoning through deterministic feedback and mitigate miscalibration. To robustly improve calibration across tool types, we propose a reinforcement learning (RL) fine-tuning framework that jointly optimizes task accuracy and calibration, supported by a holistic benchmark of reward designs. We demonstrate that our trained agents not only achieve superior calibration but also exhibit robust generalization from local training environments to noisy web settings and to distinct domains such as mathematical reasoning. Our results highlight the necessity of domain-specific calibration strategies for tool-use agents. More broadly, this work establishes a foundation for building self-aware agents that can reliably communicate uncertainty in high-stakes, real-world deployments.

Recent work synthesizes agentic tasks for post-training tool-using LLMs, yet robust generalization under shifts in tasks and toolsets remains an open challenge. We trace this brittleness to insufficient diversity in synthesized tasks. Scaling diversity is difficult because training requires tasks to remain executable and verifiable, while generalization demands coverage of diverse tool types, toolset combinations, and heterogeneous tool-use patterns. We propose DIVE, an evidence-driven recipe that inverts synthesis order, executing diverse, real-world tools first and reverse-deriving tasks strictly entailed by the resulting traces, thereby providing grounding by construction. DIVE scales structural diversity along two controllable axes, tool-pool coverage and per-task toolset variety, and an Evidence Collection--Task Derivation loop further induces rich multi-step tool-use patterns across 373 tools in five domains. Training Qwen3-8B on DIVE data (48k SFT + 3.2k RL) improves by +22 average points across 9 OOD benchmarks and outperforms the strongest 8B baseline by +68. Remarkably, controlled scaling analysis reveals that diversity scaling consistently outperforms quantity scaling for OOD generalization, even with 4x less data.

Agentic language models operate in a fundamentally different safety regime than chat models: they must plan, call tools, and execute long-horizon actions where a single misstep, such as accessing files or entering credentials, can cause irreversible harm. Existing alignment methods, largely optimized for static generation and task completion, break down in these settings due to sequential decision-making, adversarial tool feedback, and overconfident intermediate reasoning. We introduce MOSAIC, a post-training framework that aligns agents for safe multi-step tool use by making safety decisions explicit and learnable. MOSAIC structures inference as a plan, check, then act or refuse loop, with explicit safety reasoning and refusal as first-class actions. To train without trajectory-level labels, we use preference-based reinforcement learning with pairwise trajectory comparisons, which captures safety distinctions often missed by scalar rewards. We evaluate MOSAIC zero-shot across three model families, Qwen2.5-7B, Qwen3-4B-Thinking, and Phi-4, and across out-of-distribution benchmarks spanning harmful tasks, prompt injection, benign tool use, and cross-domain privacy leakage. MOSAIC reduces harmful behavior by up to 50%, increases harmful-task refusal by over 20% on injection attacks, cuts privacy leakage, and preserves or improves benign task performance, demonstrating robust generalization across models, domains, and agentic settings.

Humans possess an extraordinary ability to create and utilize tools, allowing them to overcome physical limitations and explore new frontiers. With the advent of foundation models, AI systems have the potential to be equally adept in tool use as humans. This paradigm, i.e., tool learning with foundation models, combines the strengths of specialized tools and foundation models to achieve enhanced accuracy, efficiency, and automation in problem-solving. Despite its immense potential, there is still a lack of a comprehensive understanding of key challenges, opportunities, and future endeavors in this field. To this end, we present a systematic investigation of tool learning in this paper. We first introduce the background of tool learning, including its cognitive origins, the paradigm shift of foundation models, and the complementary roles of tools and models. Then we recapitulate existing tool learning research into tool-augmented and tool-oriented learning. We formulate a general tool learning framework: starting from understanding the user instruction, models should learn to decompose a complex task into several subtasks, dynamically adjust their plan through reasoning, and effectively conquer each sub-task by selecting appropriate tools. We also discuss how to train models for improved tool-use capabilities and facilitate the generalization in tool learning. Considering the lack of a systematic tool learning evaluation in prior works, we experiment with 18 representative tools and show the potential of current foundation models in skillfully utilizing tools. Finally, we discuss several open problems that require further investigation for tool learning. In general, we hope this paper could inspire future research in integrating tools with foundation models.

Training tool-augmented LLMs has emerged as a promising approach to enhancing language models' capabilities for complex tasks. The current supervised fine-tuning paradigm relies on constructing extensive domain-specific datasets to train models. However, this approach often struggles to generalize effectively to unfamiliar or intricate tool-use scenarios. Recently, reinforcement learning (RL) paradigm can endow LLMs with superior reasoning and generalization abilities. In this work, we address a key question: Can the pure RL be used to effectively elicit a model's intrinsic reasoning capabilities and enhance the tool-agnostic generalization? We propose a dynamic generalization-guided reward design for rule-based RL, which progressively shifts rewards from exploratory to exploitative tool-use patterns. Based on this design, we introduce the Tool-Zero series models. These models are trained to enable LLMs to autonomously utilize general tools by directly scaling up RL from Zero models (i.e., base models without post-training). Experimental results demonstrate that our models achieve over 7% performance improvement compared to both SFT and RL-with-SFT models under the same experimental settings. These gains are consistently replicated across cross-dataset and intra-dataset evaluations, validating the effectiveness and robustness of our methods.

Tool-calling agents are increasingly deployed in real-world customer-facing workflows. Yet most studies on tool-calling agents focus on idealized settings with general, fixed, and well-specified tasks. In real-world applications, user requests are often (1) ambiguous, (2) changing over time, or (3) infeasible due to policy constraints, and training and evaluation data that cover these diverse, complex interaction patterns remain under-represented. To bridge the gap, we present Trajectory2Task, a verifiable data generation pipeline for studying tool use at scale under three realistic user scenarios: ambiguous intent, changing intent, and infeasible intents. The pipeline first conducts multi-turn exploration to produce valid tool-call trajectories. It then converts these trajectories into user-facing tasks with controlled intent adaptations. This process yields verifiable task that support closed-loop evaluation and training. We benchmark seven state-of-the-art LLMs on the generated complex user scenario tasks and observe frequent failures. Finally, using successful trajectories obtained from task rollouts, we fine-tune lightweight LLMs and find consistent improvements across all three conditions, along with better generalization to unseen tool-use domains, indicating stronger general tool-calling ability.

Large language models (LLMs) have shown great promise in automating data science workflows, but existing models still struggle with multi-step reasoning and tool use, which limits their effectiveness on complex data analysis tasks. To address this, we propose a scalable pipeline that extracts high-quality, tool-based data analysis tasks and their executable multi-step solutions from real-world Jupyter notebooks and associated data files. Using this pipeline, we introduce NbQA, a large-scale dataset of standardized task-solution pairs that reflect authentic tool-use patterns in practical data science scenarios. To further enhance multi-step reasoning, we present Jupiter, a framework that formulates data analysis as a search problem and applies Monte Carlo Tree Search (MCTS) to generate diverse solution trajectories for value model learning. During inference, Jupiter combines the value model and node visit counts to efficiently collect executable multi-step plans with minimal search steps. Experimental results show that Qwen2.5-7B and 14B-Instruct models on NbQA solve 77.82% and 86.38% of tasks on InfiAgent-DABench, respectively-matching or surpassing GPT-4o and advanced agent frameworks. Further evaluations demonstrate improved generalization and stronger tool-use reasoning across diverse multi-step reasoning tasks.

We introduce LongCat-Flash-Thinking-2601, a 560-billion-parameter open-source Mixture-of-Experts (MoE) reasoning model with superior agentic reasoning capability. LongCat-Flash-Thinking-2601 achieves state-of-the-art performance among open-source models on a wide range of agentic benchmarks, including agentic search, agentic tool use, and tool-integrated reasoning. Beyond benchmark performance, the model demonstrates strong generalization to complex tool interactions and robust behavior under noisy real-world environments. Its advanced capability stems from a unified training framework that combines domain-parallel expert training with subsequent fusion, together with an end-to-end co-design of data construction, environments, algorithms, and infrastructure spanning from pre-training to post-training. In particular, the model's strong generalization capability in complex tool-use are driven by our in-depth exploration of environment scaling and principled task construction. To optimize long-tailed, skewed generation and multi-turn agentic interactions, and to enable stable training across over 10,000 environments spanning more than 20 domains, we systematically extend our asynchronous reinforcement learning framework, DORA, for stable and efficient large-scale multi-environment training. Furthermore, recognizing that real-world tasks are inherently noisy, we conduct a systematic analysis and decomposition of real-world noise patterns, and design targeted training procedures to explicitly incorporate such imperfections into the training process, resulting in improved robustness for real-world applications. To further enhance performance on complex reasoning tasks, we introduce a Heavy Thinking mode that enables effective test-time scaling by jointly expanding reasoning depth and width through intensive parallel thinking.

Recent advances in DeepResearch-style agents have demonstrated strong capabilities in autonomous information acquisition and synthesize from real-world web environments. However, existing approaches remain fundamentally limited to text modality. Extending autonomous information-seeking agents to multimodal settings introduces critical challenges: the specialization-generalization trade-off that emerges when training models for multimodal tool-use at scale, and the severe scarcity of training data capturing complex, multi-step multimodal search trajectories. To address these challenges, we propose M^3Searcher, a modular multimodal information-seeking agent that explicitly decouples information acquisition from answer derivation. M^3Searcher is optimized with a retrieval-oriented multi-objective reward that jointly encourages factual accuracy, reasoning soundness, and retrieval fidelity. In addition, we develop MMSearchVQA, a multimodal multi-hop dataset to support retrieval centric RL training. Experimental results demonstrate that M^3Searcher outperforms existing approaches, exhibits strong transfer adaptability and effective reasoning in complex multimodal tasks.

We introduce rStar2-Agent, a 14B math reasoning model trained with agentic reinforcement learning to achieve frontier-level performance. Beyond current long CoT, the model demonstrates advanced cognitive behaviors, such as thinking carefully before using Python coding tools and reflecting on code execution feedback to autonomously explore, verify, and refine intermediate steps in complex problem-solving. This capability is enabled through three key innovations that makes agentic RL effective at scale: (i) an efficient RL infrastructure with a reliable Python code environment that supports high-throughput execution and mitigates the high rollout costs, enabling training on limited GPU resources (64 MI300X GPUs); (ii) GRPO-RoC, an agentic RL algorithm with a Resample-on-Correct rollout strategy that addresses the inherent environment noises from coding tools, allowing the model to reason more effectively in a code environment; (iii) An efficient agent training recipe that starts with non-reasoning SFT and progresses through multi-RL stages, yielding advanced cognitive abilities with minimal compute cost. To this end, rStar2-Agent boosts a pre-trained 14B model to state of the art in only 510 RL steps within one week, achieving average pass@1 scores of 80.6% on AIME24 and 69.8% on AIME25, surpassing DeepSeek-R1 (671B) with significantly shorter responses. Beyond mathematics, rStar2-Agent-14B also demonstrates strong generalization to alignment, scientific reasoning, and agentic tool-use tasks. Code and training recipes are available at https://github.com/microsoft/rStar.

Recent advances in multimodal agents have improved computer-use interaction and tool-usage, yet most existing systems remain reactive, optimizing actions in isolation without reasoning about future states or long-term goals. This limits planning coherence and prevents agents from reliably solving high-level, multi-step tasks. We introduce TraceR1, a two-stage reinforcement learning framework that explicitly trains anticipatory reasoning by forecasting short-horizon trajectories before execution. The first stage performs trajectory-level reinforcement learning with rewards that enforce global consistency across predicted action sequences. The second stage applies grounded reinforcement fine-tuning, using execution feedback from frozen tool agents to refine step-level accuracy and executability. TraceR1 is evaluated across seven benchmarks, covering online computer-use, offline computer-use benchmarks, and multimodal tool-use reasoning tasks, where it achieves substantial improvements in planning stability, execution robustness, and generalization over reactive and single-stage baselines. These results show that anticipatory trajectory reasoning is a key principle for building multimodal agents that can reason, plan, and act effectively in complex real-world environments.

Large Language Models (LLMs), when enhanced through reasoning-oriented post-training, evolve into powerful Large Reasoning Models (LRMs). Tool-Integrated Reasoning (TIR) further extends their capabilities by incorporating external tools, but existing methods often rely on rigid, predefined tool-use patterns that risk degrading core language competence. Inspired by the human ability to adaptively select tools, we introduce AutoTIR, a reinforcement learning framework that enables LLMs to autonomously decide whether and which tool to invoke during the reasoning process, rather than following static tool-use strategies. AutoTIR leverages a hybrid reward mechanism that jointly optimizes for task-specific answer correctness, structured output adherence, and penalization of incorrect tool usage, thereby encouraging both precise reasoning and efficient tool integration. Extensive evaluations across diverse knowledge-intensive, mathematical, and general language modeling tasks demonstrate that AutoTIR achieves superior overall performance, significantly outperforming baselines and exhibits superior generalization in tool-use behavior. These results highlight the promise of reinforcement learning in building truly generalizable and scalable TIR capabilities in LLMs. The code and data are available at https://github.com/weiyifan1023/AutoTIR.

Augmenting large language models (LLMs) with external tools has emerged as a promising approach to extend their utility, empowering them to solve practical tasks. Existing work typically empowers LLMs as tool users with a manually designed workflow, where the LLM plans a series of tools in a step-by-step manner, and sequentially executes each tool to obtain intermediate results until deriving the final answer. However, they suffer from two challenges in realistic scenarios: (1) The handcrafted control flow is often ad-hoc and constraints the LLM to local planning; (2) The LLM is instructed to use only manually demonstrated tools or well-trained Python functions, which limits its generalization to new tools. In this work, we first propose Automatic Tool Chain (ATC), a framework that enables the LLM to act as a multi-tool user, which directly utilizes a chain of tools through programming. To scale up the scope of the tools, we next propose a black-box probing method. This further empowers the LLM as a tool learner that can actively discover and document tool usages, teaching themselves to properly master new tools. For a comprehensive evaluation, we build a challenging benchmark named ToolFlow, which diverges from previous benchmarks by its long-term planning scenarios and complex toolset. Experiments on both existing datasets and ToolFlow illustrate the superiority of our framework. Analysis on different settings also validates the effectiveness and the utility of our black-box probing algorithm.

Prompting and fine-tuning have emerged as two competing paradigms for augmenting language models with new capabilities, such as the use of tools. Prompting approaches are quick to set up but rely on providing explicit demonstrations of each tool's usage in the model's prompt, thus coupling tool use to the task at hand and limiting generalisation. Fine-tuning removes the need for task-specific demonstrations of tool usage at runtime; however, this ties new capabilities to a single model, thus making already-heavier setup costs a recurring expense. In this paper, we introduce language hooks, a novel framework for augmenting language models with new capabilities that is decoupled both from the model's task-specific prompt and from the model itself. The language hook algorithm interleaves text generation by the base model with the execution of modular programs that trigger conditionally based on the existing text and the available capabilities. Upon triggering, programs may call external tools, auxiliary language models (e.g. using tool specific prompts), and modify the existing context. We benchmark our method against state-of-the-art baselines, find that it outperforms task-aware approaches, and demonstrate its ability to generalise to novel tasks.

Tool-augmented large language models (LLMs) are attracting widespread attention when accessing up-to-date knowledge and alleviating hallucination issues. Nowadays, advanced closed-source LLMs (e.g., ChatGPT) have demonstrated surprising tool-usage capabilities through prompting and in-context learning techniques. To empower the capabilities of open-source LLMs (e.g., LLaMA) in manipulating tools, current efforts focus on either template-driven or token-triggered tool-usage. However, the former hampers LLMs' flexibility to address diverse user's queries due to constrained tool interactions, while the latter limits the generalizability when engaging with new tools, since tool-usage learning is based on task- and tool-specific datasets. To alleviate these concerns, in this paper, we propose a decision-aware and generalizable tool-usage framework (DEER). Specifically, we first construct the tool-usage samples with multiple decision branches via an automatic generation pipeline, thereby inspiring the decision-making awareness of LLMs under diverse scenarios. Meanwhile, we propose a novel tool sampling strategy to enhance the generalizability of LLMs over unseen tools. Extensive experiments demonstrate that our proposed DEER is effective and significantly outperforms baselines across various datasets.

Augmenting large language models (LLM) to use external tools enhances their performance across a variety of tasks. However, prior works over-rely on task-specific demonstration of tool use that limits their generalizability and computational cost due to making many calls to large-scale LLMs. We introduce GEAR, a computationally efficient query-tool grounding algorithm that is generalizable to various tasks that require tool use while not relying on task-specific demonstrations. GEAR achieves better efficiency by delegating tool grounding and execution to small language models (SLM) and LLM, respectively; while leveraging semantic and pattern-based evaluation at both question and answer levels for generalizable tool grounding. We evaluate GEAR on 14 datasets across 6 downstream tasks, demonstrating its strong generalizability to novel tasks, tools and different SLMs. Despite offering more efficiency, GEAR achieves higher precision in tool grounding compared to prior strategies using LLM prompting, thus improving downstream accuracy at a reduced computational cost. For example, we demonstrate that GEAR-augmented GPT-J and GPT-3 outperform counterpart tool-augmented baselines because of better tool use.

Tool learning has emerged as a promising direction by extending Large Language Models' (LLMs) capabilities with external tools. Existing tool learning studies primarily focus on the general-purpose tool-use capability, which addresses explicit user requirements in instructions. However, they overlook the importance of personalized tool-use capability, leading to an inability to handle implicit user preferences. To address the limitation, we first formulate the task of personalized tool learning, which integrates user's interaction history towards personalized tool usage. To fill the gap of missing benchmarks, we construct PEToolBench, featuring diverse user preferences reflected in interaction history under three distinct personalized settings, and encompassing a wide range of tool-use scenarios. Moreover, we propose a framework PEToolLLaMA to adapt LLMs to the personalized tool learning task, which is trained through supervised fine-tuning and direct preference optimization. Extensive experiments on PEToolBench demonstrate the superiority of PEToolLLaMA over existing LLMs.

Enabling large language models to utilize real-world tools effectively is crucial for achieving embodied intelligence. Existing approaches to tool learning have either primarily relied on extremely large language models, such as GPT-4, to attain generalized tool-use abilities in a zero-shot manner, or utilized supervised learning to train limited scopes of tools on compact models. However, it remains uncertain whether smaller language models can achieve generalized tool-use abilities without tool-specific training. To address this question, this paper introduces ToolAlpaca, a novel framework designed to automatically generate a diverse tool-use corpus and learn generalized tool-use abilities on compact language models with minimal human intervention. Specifically, ToolAlpaca first automatically creates a highly diversified tool-use corpus by building a multi-agent simulation environment. The corpus contains 3938 tool-use instances from more than 400 real-world tool APIs spanning 50 distinct categories. Subsequently, the constructed corpus is employed to fine-tune compact language models, resulting in two models, namely ToolAlpaca-7B and ToolAlpaca-13B, respectively. Finally, we evaluate the ability of these models to utilize previously unseen tools without specific training. Experimental results demonstrate that ToolAlpaca achieves effective generalized tool-use capabilities comparable to those of extremely large language models like GPT-3.5, demonstrating that learning generalized tool-use ability is feasible for compact language models.

The meaning of complex phrases in natural language is composed of their individual components. The task of compositional generalization evaluates a model's ability to understand new combinations of components. Previous studies trained smaller, task-specific models, which exhibited poor generalization. While large language models (LLMs) exhibit impressive generalization abilities on many tasks through in-context learning (ICL), their potential for compositional generalization remains unexplored. In this paper, we first empirically investigate prevailing ICL methods in compositional generalization. We find that they struggle with complex compositional questions due to cumulative errors in long reasoning steps and intricate logic required for tool-making. Consequently, we propose a human-guided tool manipulation framework (HTM) that generates tools for sub-questions and integrates multiple tools. Our method enhances the effectiveness of tool creation and usage with minimal human effort. Experiments show that our method achieves state-of-the-art performance on two compositional generalization benchmarks and outperforms existing methods on the most challenging test split by 70%.

When humans face problems beyond their immediate capabilities, they rely on tools, providing a promising paradigm for improving visual reasoning in multimodal large language models (MLLMs). Effective reasoning, therefore, hinges on knowing which tools to use, when to invoke them, and how to compose them over multiple steps, even when faced with new tools or new tasks. We introduce AdaReasoner, a family of multimodal models that learn tool use as a general reasoning skill rather than as tool-specific or explicitly supervised behavior. AdaReasoner is enabled by (i) a scalable data curation pipeline exposing models to long-horizon, multi-step tool interactions; (ii) Tool-GRPO, a reinforcement learning algorithm that optimizes tool selection and sequencing based on end-task success; and (iii) an adaptive learning mechanism that dynamically regulates tool usage. Together, these components allow models to infer tool utility from task context and intermediate outcomes, enabling coordination of multiple tools and generalization to unseen tools. Empirically, AdaReasoner exhibits strong tool-adaptive and generalization behaviors: it autonomously adopts beneficial tools, suppresses irrelevant ones, and adjusts tool usage frequency based on task demands, despite never being explicitly trained to do so. These capabilities translate into state-of-the-art performance across challenging benchmarks, improving the 7B base model by +24.9\% on average and surpassing strong proprietary systems such as GPT-5 on multiple tasks, including VSP and Jigsaw.

Tool learning aims to enhance and expand large language models' (LLMs) capabilities with external tools, which has gained significant attention recently. Current methods have shown that LLMs can effectively handle a certain amount of tools through in-context learning or fine-tuning. However, in real-world scenarios, the number of tools is typically extensive and irregularly updated, emphasizing the necessity for a dedicated tool retrieval component. Tool retrieval is nontrivial due to the following challenges: 1) complex user instructions and tool descriptions; 2) misalignment between tool retrieval and tool usage models. To address the above issues, we propose to enhance tool retrieval with iterative feedback from the large language model. Specifically, we prompt the tool usage model, i.e., the LLM, to provide feedback for the tool retriever model in multi-round, which could progressively improve the tool retriever's understanding of instructions and tools and reduce the gap between the two standalone components. We build a unified and comprehensive benchmark to evaluate tool retrieval models. The extensive experiments indicate that our proposed approach achieves advanced performance in both in-domain evaluation and out-of-domain evaluation.

Equipping Large Language Models (LLMs) with external tools enables them to solve complex real-world problems. However, the robustness of existing methods remains a critical challenge when confronting novel or evolving tools. Existing trajectory-centric paradigms primarily rely on memorizing static solution paths during training, which limits the ability of LLMs to generalize tool usage to newly introduced or previously unseen tools. In this paper, we propose ToolMaster, a framework that shifts tool use from imitating golden tool-calling trajectories to actively learning tool usage through interaction with the environment. To optimize LLMs for tool planning and invocation, ToolMaster adopts a trial-and-execution paradigm, which trains LLMs to first imitate teacher-generated trajectories containing explicit tool trials and self-correction, followed by reinforcement learning to coordinate the trial and execution phases jointly. This process enables agents to autonomously explore correct tool usage by actively interacting with environments and forming experiential knowledge that benefits tool execution. Experimental results demonstrate that ToolMaster significantly outperforms existing baselines in terms of generalization and robustness across unseen or unfamiliar tools. All code and data are available at https://github.com/NEUIR/ToolMaster.

Robust and generalized tool manipulation requires an understanding of the properties and affordances of different tools. We investigate whether linguistic information about a tool (e.g., its geometry, common uses) can help control policies adapt faster to new tools for a given task. We obtain diverse descriptions of various tools in natural language and use pre-trained language models to generate their feature representations. We then perform language-conditioned meta-learning to learn policies that can efficiently adapt to new tools given their corresponding text descriptions. Our results demonstrate that combining linguistic information and meta-learning significantly accelerates tool learning in several manipulation tasks including pushing, lifting, sweeping, and hammering.

Tool learning enables Large Language Models (LLMs) to interact with external environments by invoking tools, serving as an effective strategy to mitigate the limitations inherent in their pre-training data. In this process, tool documentation plays a crucial role by providing usage instructions for LLMs, thereby facilitating effective tool utilization. This paper concentrates on the critical challenge of bridging the comprehension gap between LLMs and external tools due to the inadequacies and inaccuracies inherent in existing human-centric tool documentation. We propose a novel framework, DRAFT, aimed at Dynamically Refining tool documentation through the Analysis of Feedback and Trails emanating from LLMs' interactions with external tools. This methodology pivots on an innovative trial-and-error approach, consisting of three distinct learning phases: experience gathering, learning from experience, and documentation rewriting, to iteratively enhance the tool documentation. This process is further optimized by implementing a diversity-promoting exploration strategy to ensure explorative diversity and a tool-adaptive termination mechanism to prevent overfitting while enhancing efficiency. Extensive experiments on multiple datasets demonstrate that DRAFT's iterative, feedback-based refinement significantly ameliorates documentation quality, fostering a deeper comprehension and more effective utilization of tools by LLMs. Notably, our analysis reveals that the tool documentation refined via our approach demonstrates robust cross-model generalization capabilities.

Recent advances in large language models (LLMs) have demonstrated remarkable capabilities in reasoning and tool utilization. However, the generalization of tool-augmented reinforcement learning (RL) across diverse domains remains underexplored. In this work, we investigate the cross-domain generalization of an LLM agent equipped with a code interpreter tool, which is exclusively trained on mathematical problem-solving tasks. Despite the restricted training domain, we evaluate the agent's performance across several distinct reasoning domains. The results reveal that RL-based tool usage learned from mathematical tasks can be effectively transferred to complex tasks in other domains, enabling great task performance and high token efficiency. To facilitate this cross-domain transfer, we propose a Tool Generalization Reinforcement Learning (TGRL) framework designed to promote domain-agnostic learning and skill migration, encompassing: (i) a standardized tool interface that abstracts domain-specific nuances through consistent formatting and explicit termination, fostering transferable invocation patterns; (ii) a dual-component reward system that decomposes rewards to incentivize generalizable behaviors like tool efficiency and reasoning abstraction, ensuring alignment and robustness across domain shifts; and (iii) an XML-based prompt template that separates thinking, tool calls, and responses to encourage modular, domain-invariant planning and coherent multi-turn interactions. Extensive experiments across diverse benchmarks validate our approach, achieving state-of-the-art performance and highlighting the cross-domain potential of Tool RL for LLM reasoning.

As large language models (LLMs) advance, their inability to autonomously execute tasks by directly interacting with external tools remains a critical limitation. Traditional methods rely on inputting tool descriptions as context, which is constrained by context length and requires separate, often inefficient, retrieval mechanisms. We introduce ToolGen, a paradigm shift that integrates tool knowledge directly into the LLM's parameters by representing each tool as a unique token. This enables the LLM to generate tool calls and arguments as part of its next token prediction capabilities, seamlessly blending tool invocation with language generation. Our framework allows the LLM to access and utilize a vast amount of tools with no additional retrieval step, significantly enhancing both performance and scalability. Experimental results with over 47,000 tools show that ToolGen not only achieves superior results in both tool retrieval and autonomous task completion but also sets the stage for a new era of AI agents that can adapt to tools across diverse domains. By fundamentally transforming tool retrieval into a generative process, ToolGen paves the way for more versatile, efficient, and autonomous AI systems. ToolGen enables end-to-end tool learning and opens opportunities for integration with other advanced techniques such as chain-of-thought and reinforcement learning, thereby expanding the practical capabilities of LLMs.

Tools serve as pivotal interfaces that enable humans to understand and reshape the world. With the advent of foundational models, AI systems can utilize tools to expand their capabilities and interact with the world. Existing tool learning methodologies, encompassing supervised fine-tuning and prompt engineering approaches, often induce language models to utilize tools indiscriminately, as complex problems often exceed their own competencies. However, introducing tools for simple tasks, which the models themselves can readily resolve, can inadvertently propagate errors rather than enhance performance. This leads to the research question: can we teach language models when and how to use tools? To meet this need, we propose Tool leaRning wIth exeCution fEedback (TRICE), a two-stage end-to-end framework that enables the model to continually learn through feedback derived from tool execution, thereby learning when and how to use tools effectively. Experimental results, backed by further analysis, show that TRICE can make the language model to selectively use tools by decreasing the model's dependency on tools while enhancing the performance. Code and datasets will be available in https://github.com/zjunlp/trice.

The ability of large language models (LLMs) to utilize external tools has enabled them to tackle an increasingly diverse range of tasks. However, as the tasks become more complex and long-horizon, the intricate tool utilization process may trigger various unexpected errors. Therefore, how to effectively handle such errors, including identifying, diagnosing, and recovering from them, has emerged as a key research direction for advancing tool learning. In this work, we first extensively analyze the types of errors encountered during the function-calling process on several competitive tool evaluation benchmarks. Based on it, we introduce CRITICTOOL, a comprehensive critique evaluation benchmark specialized for tool learning. Building upon a novel evolutionary strategy for dataset construction, CRITICTOOL holds diverse tool-use errors with varying complexities, which better reflects real-world scenarios. We conduct extensive experiments on CRITICTOOL, and validate the generalization and effectiveness of our constructed benchmark strategy. We also provide an in-depth analysis of the tool reflection ability on various LLMs, offering a new perspective on the field of tool learning in LLMs. The code is available at https://github.com/Shellorley0513/CriticTool{https://github.com/Shellorley0513/CriticTool}.

Tool-using agents based on Large Language Models (LLMs) excel in tasks such as mathematical reasoning and multi-hop question answering. However, in long trajectories, agents often trigger excessive and low-quality tool calls, increasing latency and degrading inference performance, making managing tool-use behavior challenging. In this work, we conduct entropy-based pilot experiments and observe a strong positive correlation between entropy reduction and high-quality tool calls. Building on this finding, we propose using entropy reduction as a supervisory signal and design two reward strategies to address the differing needs of optimizing tool-use behavior. Sparse outcome rewards provide coarse, trajectory-level guidance to improve efficiency, while dense process rewards offer fine-grained supervision to enhance performance. Experiments across diverse domains show that both reward designs improve tool-use behavior: the former reduces tool calls by 72.07% compared to the average of baselines, while the latter improves performance by 22.27%. These results position entropy reduction as a key mechanism for enhancing tool-use behavior, enabling agents to be more adaptive in real-world applications.

Tool learning can further broaden the usage scenarios of large language models (LLMs). However most of the existing methods either need to finetune that the model can only use tools seen in the training data, or add tool demonstrations into the prompt with lower efficiency. In this paper, we present a new Tool Learning method Chain-of-Tools. It makes full use of the powerful semantic representation capability of frozen LLMs to finish tool calling in CoT reasoning with a huge and flexible tool pool which may contain unseen tools. Especially, to validate the effectiveness of our approach in the massive unseen tool scenario, we construct a new dataset SimpleToolQuestions. We conduct experiments on two numerical reasoning benchmarks (GSM8K-XL and FuncQA) and two knowledge-based question answering benchmarks (KAMEL and SimpleToolQuestions). Experimental results show that our approach performs better than the baseline. We also identify dimensions of the model output that are critical in tool selection, enhancing the model interpretability. Our code and data are available at: https://github.com/fairyshine/Chain-of-Tools .

Recent advancements in function calling and tool use have significantly enhanced the capabilities of large language models (LLMs) by enabling them to interact with external information sources and execute complex tasks. However, the limited context window of LLMs presents challenges when a large number of tools are available, necessitating efficient methods to manage prompt length and maintain accuracy. Existing approaches, such as fine-tuning LLMs or leveraging their reasoning capabilities, either require frequent retraining or incur significant latency overhead. A more efficient solution involves training smaller models to retrieve the most relevant tools for a given query, although this requires high quality, domain-specific data. To address those challenges, we present a novel framework for generating synthetic data for tool retrieval applications and an efficient data-driven tool retrieval strategy using small encoder models. Empowered by LLMs, we create ToolBank, a new tool retrieval dataset that reflects real human user usages. For tool retrieval methodologies, we propose novel approaches: (1) Tool2Vec: usage-driven tool embedding generation for tool retrieval, (2) ToolRefiner: a staged retrieval method that iteratively improves the quality of retrieved tools, and (3) MLC: framing tool retrieval as a multi-label classification problem. With these new methods, we achieve improvements of up to 27.28 in Recall@K on the ToolBench dataset and 30.5 in Recall@K on ToolBank. Additionally, we present further experimental results to rigorously validate our methods. Our code is available at https://github.com/SqueezeAILab/Tool2Vec

Existing evaluations of tool learning primarily focus on validating the alignment of selected tools for large language models (LLMs) with expected outcomes. However, these approaches rely on a limited set of scenarios where answers can be pre-determined, diverging from genuine needs. Furthermore, a sole emphasis on outcomes disregards the intricate capabilities essential for LLMs to effectively utilize tools. To tackle this issue, we propose ToolEyes, a fine-grained system tailored for the evaluation of the LLMs' tool learning capabilities in authentic scenarios. The system meticulously examines seven real-world scenarios, analyzing five dimensions crucial to LLMs in tool learning: format alignment, intent comprehension, behavior planning, tool selection, and answer organization. Additionally, ToolEyes incorporates a tool library boasting approximately 600 tools, serving as an intermediary between LLMs and the physical world. Evaluations involving ten LLMs across three categories reveal a preference for specific scenarios and limited cognitive abilities in tool learning. Intriguingly, expanding the model size even exacerbates the hindrance to tool learning. These findings offer instructive insights aimed at advancing the field of tool learning. The data is available att https://github.com/Junjie-Ye/ToolEyes.

Large language models (LLMs) have garnered significant attention due to their impressive natural language processing (NLP) capabilities. Recently, many studies have focused on the tool utilization ability of LLMs. They primarily investigated how LLMs effectively collaborate with given specific tools. However, in scenarios where LLMs serve as intelligent agents, as seen in applications like AutoGPT and MetaGPT, LLMs are expected to engage in intricate decision-making processes that involve deciding whether to employ a tool and selecting the most suitable tool(s) from a collection of available tools to fulfill user requests. Therefore, in this paper, we introduce MetaTool, a benchmark designed to evaluate whether LLMs have tool usage awareness and can correctly choose tools. Specifically, we create a dataset called ToolE within the benchmark. This dataset contains various types of user queries in the form of prompts that trigger LLMs to use tools, including both single-tool and multi-tool scenarios. Subsequently, we set the tasks for both tool usage awareness and tool selection. We define four subtasks from different perspectives in tool selection, including tool selection with similar choices, tool selection in specific scenarios, tool selection with possible reliability issues, and multi-tool selection. We conduct experiments involving nine popular LLMs and find that the majority of them still struggle to effectively select tools, highlighting the existing gaps between LLMs and genuine intelligent agents. However, through the error analysis, we found there is still significant room for improvement. Finally, we conclude with insights for tool developers that follow ChatGPT to provide detailed descriptions that can enhance the tool selection performance of LLMs.

Generalist robot policies trained on large-scale datasets such as Open X-Embodiment (OXE) demonstrate strong performance across a wide range of tasks. However, they often struggle to generalize beyond the distribution of their training data. In this paper, we investigate the underlying cause of this limited generalization capability. We identify shortcut learning -- the reliance on task-irrelevant features -- as a key impediment to generalization. Through comprehensive theoretical and empirical analysis, we uncover two primary contributors to shortcut learning: (1) limited diversity within individual sub-datasets, and (2) significant distributional disparities across sub-datasets, leading to dataset fragmentation. These issues arise from the inherent structure of large-scale datasets like OXE, which are typically composed of multiple sub-datasets collected independently across varied environments and embodiments. Our findings provide critical insights into dataset collection strategies that can reduce shortcut learning and enhance the generalization ability of generalist robot policies. Moreover, in scenarios where acquiring new large-scale data is impractical, we demonstrate that carefully selected robotic data augmentation strategies can effectively reduce shortcut learning in existing offline datasets, thereby improving generalization capabilities of generalist robot policies, e.g., pi_0, in both simulation and real-world environments. More information at https://lucky-light-sun.github.io/proj/shortcut-learning-in-grps/.

Language models (LMs) are powerful yet mostly for text generation tasks. Tools have substantially enhanced their performance for tasks that require complex skills. However, many works adopt the term "tool" in different ways, raising the question: What is a tool anyway? Subsequently, where and how do tools help LMs? In this survey, we provide a unified definition of tools as external programs used by LMs, and perform a systematic review of LM tooling scenarios and approaches. Grounded on this review, we empirically study the efficiency of various tooling methods by measuring their required compute and performance gains on various benchmarks, and highlight some challenges and potential future research in the field.

Despite having powerful reasoning and inference capabilities, Large Language Models (LLMs) still need external tools to acquire real-time information retrieval or domain-specific expertise to solve complex tasks, which is referred to as tool learning. Existing tool learning methods primarily rely on tuning with expert trajectories, focusing on token-sequence learning from a linguistic perspective. However, there are several challenges: 1) imitating static trajectories limits their ability to generalize to new tasks. 2) even expert trajectories can be suboptimal, and better solution paths may exist. In this work, we introduce StepTool, a novel step-grained reinforcement learning framework to improve tool learning in LLMs. It consists of two components: Step-grained Reward Shaping, which assigns rewards at each tool interaction based on tool invocation success and its contribution to the task, and Step-grained Optimization, which uses policy gradient methods to optimize the model in a multi-step manner. Experimental results demonstrate that StepTool significantly outperforms existing methods in multi-step, tool-based tasks, providing a robust solution for complex task environments. Codes are available at https://github.com/yuyq18/StepTool.

Recently, tool learning with large language models (LLMs) has emerged as a promising paradigm for augmenting the capabilities of LLMs to tackle highly complex problems. Despite growing attention and rapid advancements in this field, the existing literature remains fragmented and lacks systematic organization, posing barriers to entry for newcomers. This gap motivates us to conduct a comprehensive survey of existing works on tool learning with LLMs. In this survey, we focus on reviewing existing literature from the two primary aspects (1) why tool learning is beneficial and (2) how tool learning is implemented, enabling a comprehensive understanding of tool learning with LLMs. We first explore the "why" by reviewing both the benefits of tool integration and the inherent benefits of the tool learning paradigm from six specific aspects. In terms of "how", we systematically review the literature according to a taxonomy of four key stages in the tool learning workflow: task planning, tool selection, tool calling, and response generation. Additionally, we provide a detailed summary of existing benchmarks and evaluation methods, categorizing them according to their relevance to different stages. Finally, we discuss current challenges and outline potential future directions, aiming to inspire both researchers and industrial developers to further explore this emerging and promising area. We also maintain a GitHub repository to continually keep track of the relevant papers and resources in this rising area at https://github.com/quchangle1/LLM-Tool-Survey.

Augmenting large language models (LLMs) with external tools is a promising approach to enhance their capabilities. Effectively leveraging this potential for complex tasks hinges crucially on improving their ability to use tools. Synthesizing tool use data by simulating the real world is an effective approach. Nevertheless, our investigation reveals that training gains significantly decay as the scale of these data increases. The primary factor is the model's poor performance (a.k.a deficiency) in complex scenarios, which hinders learning from data using SFT. Driven by this objective, we propose an iterative reinforced fine-tuning strategy to continually guide the model to alleviate it. Specifically, we first identify deficiency-related data based on feedback from the policy model, then perform a Monte Carlo Tree Search to collect fine-grained preference pairs to pinpoint deficiencies. Subsequently, we update the policy model using preference optimization to align with ground truth and misalign with deficiencies. This process can be iterated. Moreover, before the iteration, we propose an easy-to-hard warm-up SFT strategy to facilitate learning from challenging data. The experiments demonstrate our models go beyond the same parametric models, outperforming many larger open-source and closed-source models. Additionally, it has achieved notable training gains in complex tool use scenarios.

Large language models (LLMs) can now access a wide range of external tools, thanks to the Model Context Protocol (MCP). This greatly expands their abilities as various agents. However, LLMs rely entirely on the text descriptions of tools to decide which ones to use--a process that is surprisingly fragile. In this work, we expose a vulnerability in prevalent tool/function-calling protocols by investigating a series of edits to tool descriptions, some of which can drastically increase a tool's usage from LLMs when competing with alternatives. Through controlled experiments, we show that tools with properly edited descriptions receive over 10 times more usage from GPT-4.1 and Qwen2.5-7B than tools with original descriptions. We further evaluate how various edits to tool descriptions perform when competing directly with one another and how these trends generalize or differ across a broader set of 10 different models. These phenomenons, while giving developers a powerful way to promote their tools, underscore the need for a more reliable foundation for agentic LLMs to select and utilize tools and resources.

Today, large language models (LLMs) are taught to use new tools by providing a few demonstrations of the tool's usage. Unfortunately, demonstrations are hard to acquire, and can result in undesirable biased usage if the wrong demonstration is chosen. Even in the rare scenario that demonstrations are readily available, there is no principled selection protocol to determine how many and which ones to provide. As tasks grow more complex, the selection search grows combinatorially and invariably becomes intractable. Our work provides an alternative to demonstrations: tool documentation. We advocate the use of tool documentation, descriptions for the individual tool usage, over demonstrations. We substantiate our claim through three main empirical findings on 6 tasks across both vision and language modalities. First, on existing benchmarks, zero-shot prompts with only tool documentation are sufficient for eliciting proper tool usage, achieving performance on par with few-shot prompts. Second, on a newly collected realistic tool-use dataset with hundreds of available tool APIs, we show that tool documentation is significantly more valuable than demonstrations, with zero-shot documentation significantly outperforming few-shot without documentation. Third, we highlight the benefits of tool documentations by tackling image generation and video tracking using just-released unseen state-of-the-art models as tools. Finally, we highlight the possibility of using tool documentation to automatically enable new applications: by using nothing more than the documentation of GroundingDino, Stable Diffusion, XMem, and SAM, LLMs can re-invent the functionalities of the just-released Grounded-SAM and Track Anything models.

Recent research shows the potential of enhancing the problem-solving ability of large language models (LLMs) through the use of external tools. However, prior work along this line depends on the availability of existing tools. In this work, we take an initial step towards removing this dependency by proposing a closed-loop framework, referred to as LLMs As Tool Makers (LATM), where LLMs create their own reusable tools for problem-solving. Our approach consists of two key phases: 1) tool making: an LLM acts as the tool maker that crafts tools for given tasks, where a tool is implemented as a Python utility function. 2) tool using: an LLM acts as the tool user, which applies the tool built by the tool maker for problem-solving. The tool user can be either the same or a different LLM from the tool maker. Tool-making enables an LLM to continually generate tools that can be applied to different requests so that future requests can call the corresponding APIs when beneficial for solving the tasks. Furthermore, the division of labor among LLMs for tool-making and tool-using phases introduces the opportunity to achieve cost effectiveness without degrading the quality of generated tools and problem solutions. For example, recognizing that tool-making demands more sophisticated capabilities than tool-using, we can apply a powerful yet resource-intensive model as the tool maker, and a lightweight while cost-effective model as the tool user. We validate the effectiveness of our approach across a variety of complex reasoning tasks, including Big-Bench tasks. With GPT-4 as the tool maker and GPT-3.5 as the tool user, LATM can achieve performance that is on par with using GPT-4 for both tool making and tool using, while the inference cost is significantly reduced.

Conventional recommender systems (RSs) face challenges in precisely capturing users' fine-grained preferences. Large language models (LLMs) have shown capabilities in commonsense reasoning and leveraging external tools that may help address these challenges. However, existing LLM-based RSs suffer from hallucinations, misalignment between the semantic space of items and the behavior space of users, or overly simplistic control strategies (e.g., whether to rank or directly present existing results). To bridge these gap, we introduce ToolRec, a framework for LLM-empowered recommendations via tool learning that uses LLMs as surrogate users, thereby guiding the recommendation process and invoking external tools to generate a recommendation list that aligns closely with users' nuanced preferences. We formulate the recommendation process as a process aimed at exploring user interests in attribute granularity. The process factors in the nuances of the context and user preferences. The LLM then invokes external tools based on a user's attribute instructions and probes different segments of the item pool. We consider two types of attribute-oriented tools: rank tools and retrieval tools. Through the integration of LLMs, ToolRec enables conventional recommender systems to become external tools with a natural language interface. Extensive experiments verify the effectiveness of ToolRec, particularly in scenarios that are rich in semantic content.

Recent research has demonstrated that Large Language Models (LLMs) can enhance their capabilities by utilizing external tools. However, three pivotal questions remain unanswered: (1) How effective are current LLMs in utilizing tools? (2) How can we enhance LLMs' ability to utilize tools? (3) What obstacles need to be overcome to leverage tools? To address these questions, we introduce API-Bank, a groundbreaking benchmark, specifically designed for tool-augmented LLMs. For the first question, we develop a runnable evaluation system consisting of 73 API tools. We annotate 314 tool-use dialogues with 753 API calls to assess the existing LLMs' capabilities in planning, retrieving, and calling APIs. For the second question, we construct a comprehensive training set containing 1,888 tool-use dialogues from 2,138 APIs spanning 1,000 distinct domains. Using this dataset, we train Lynx, a tool-augmented LLM initialized from Alpaca. Experimental results demonstrate that GPT-3.5 exhibits improved tool utilization compared to GPT-3, while GPT-4 excels in planning. However, there is still significant potential for further improvement. Moreover, Lynx surpasses Alpaca's tool utilization performance by more than 26 pts and approaches the effectiveness of GPT-3.5. Through error analysis, we highlight the key challenges for future research in this field to answer the third question.

Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small set of simple toys and then applying that knowledge to more complex items. Inspired by this, we study if similar generalization capabilities can also be achieved by robots. Our results indicate robots can learn generalizable grasping using randomly assembled objects that are composed from just four shape primitives: spheres, cuboids, cylinders, and rings. We show that training on these "toys" enables robust generalization to real-world objects, yielding strong zero-shot performance. Crucially, we find the key to this generalization is an object-centric visual representation induced by our proposed detection pooling mechanism. Evaluated in both simulation and on physical robots, our model achieves a 67% real-world grasping success rate on the YCB dataset, outperforming state-of-the-art approaches that rely on substantially more in-domain data. We further study how zero-shot generalization performance scales by varying the number and diversity of training toys and the demonstrations per toy. We believe this work offers a promising path to scalable and generalizable learning in robotic manipulation. Demonstration videos, code, checkpoints and our dataset are available on our project page: https://lego-grasp.github.io/ .

Large reasoning models have demonstrated strong problem-solving abilities, yet real-world tasks often require external tools and long-horizon interactions. Existing agent frameworks typically follow predefined workflows, which limit autonomous and global task completion. In this paper, we introduce DeepAgent, an end-to-end deep reasoning agent that performs autonomous thinking, tool discovery, and action execution within a single, coherent reasoning process. To address the challenges of long-horizon interactions, particularly the context length explosion from multiple tool calls and the accumulation of interaction history, we introduce an autonomous memory folding mechanism that compresses past interactions into structured episodic, working, and tool memories, reducing error accumulation while preserving critical information. To teach general-purpose tool use efficiently and stably, we develop an end-to-end reinforcement learning strategy, namely ToolPO, that leverages LLM-simulated APIs and applies tool-call advantage attribution to assign fine-grained credit to the tool invocation tokens. Extensive experiments on eight benchmarks, including general tool-use tasks (ToolBench, API-Bank, TMDB, Spotify, ToolHop) and downstream applications (ALFWorld, WebShop, GAIA, HLE), demonstrate that DeepAgent consistently outperforms baselines across both labeled-tool and open-set tool retrieval scenarios. This work takes a step toward more general and capable agents for real-world applications. The code and demo are available at https://github.com/RUC-NLPIR/DeepAgent.

Tool-augmented large language models (LLMs) leverage tools, often in the form of APIs, to enhance their reasoning capabilities on complex tasks, thus taking on the role of intelligent agents interacting with the real world. The recently introduced ToolLLaMA model by Qin et al. [2024] utilizes the depth-first search-based decision tree (DFSDT) method for reasoning with 16000+ real-world APIs, which effectively improves the planning and inferencing performance of tool-augmented LLMs compared to traditional chain reasoning approaches. However, their approach only employs successful paths from decision trees (also called inference trees) for supervised fine-tuning (SFT) during training, which does not fully exploit the advantages of the tree of thought. In this study, we propose an inference trajectory optimization framework based on the preference data extracted from decision trees to address this limitation. We first introduce a novel method for constructing preference data from the tree of thought, capitalizing on the failed explorations previously overlooked in the trees. Specifically, we generate an effective step-wise preference dataset, named ToolPreference, for tool use based on the ToolBench dataset. In the subsequent training phase, we first fine-tune the LLM with tool-usage expert trajectories and then use these step-wise preference pairs for direct preference optimization (DPO) to update the policy of the LLM, resulting in our ToolPrefer-LLaMA (TP-LLaMA) model. Our experiments demonstrate that by obtaining insights from errors in inference trees, TP-LLaMA significantly outperforms the baselines across almost all test scenarios by a large margin and exhibits better generalization capabilities with unseen APIs. At the same time, TP-LLaMA has also demonstrated superior reasoning efficiency compared to the baselines, making it more suitable for complex tool-usage reasoning tasks.

Large language models (LLMs) have demonstrated exceptional reasoning capabilities, enabling them to solve various complex problems. Recently, this ability has been applied to the paradigm of tool learning. Tool learning involves providing examples of tool usage and their corresponding functions, allowing LLMs to formulate plans and demonstrate the process of invoking and executing each tool. LLMs can address tasks that they cannot complete independently, thereby enhancing their potential across different tasks. However, this approach faces two key challenges. First, redundant error correction leads to unstable planning and long execution time. Additionally, designing a correct plan among multiple tools is also a challenge in tool learning. To address these issues, we propose Tool-Planner, a task-processing framework based on toolkits. Tool-Planner groups tools based on the API functions with the same function into a toolkit and allows LLMs to implement planning across the various toolkits. When a tool error occurs, the language model can reselect and adjust tools based on the toolkit. Experiments show that our approach demonstrates a high pass and win rate across different datasets and optimizes the planning scheme for tool learning in models such as GPT-4 and Claude 3, showcasing the potential of our method.

Recently, large language models (LLMs) have shown remarkable reasoning capabilities via large-scale reinforcement learning (RL). However, leveraging the RL algorithm to empower effective multi-tool collaborative reasoning in LLMs remains an open challenge. In this paper, we introduce Tool-Star, an RL-based framework designed to empower LLMs to autonomously invoke multiple external tools during stepwise reasoning. Tool-Star integrates six types of tools and incorporates systematic designs in both data synthesis and training. To address the scarcity of tool-use data, we propose a general tool-integrated reasoning data synthesis pipeline, which combines tool-integrated prompting with hint-based sampling to automatically and scalably generate tool-use trajectories. A subsequent quality normalization and difficulty-aware classification process filters out low-quality samples and organizes the dataset from easy to hard. Furthermore, we propose a two-stage training framework to enhance multi-tool collaborative reasoning by: (1) cold-start fine-tuning, which guides LLMs to explore reasoning patterns via tool-invocation feedback; and (2) a multi-tool self-critic RL algorithm with hierarchical reward design, which reinforces reward understanding and promotes effective tool collaboration. Experimental analyses on over 10 challenging reasoning benchmarks highlight the effectiveness and efficiency of Tool-Star. The code is available at https://github.com/dongguanting/Tool-Star.

Recently, tool-augmented LLMs have gained increasing attention. Given an instruction, tool-augmented LLMs can interact with various external tools in multiple rounds and provide a final answer. However, previous LLMs were trained on overly detailed instructions, which included API names or parameters, while real users would not explicitly mention these API details. This leads to a gap between trained LLMs and real-world scenarios. In addition, most works ignore whether the interaction process follows the instruction. To address these issues, we constructed a training dataset called MGToolBench, which contains statement and category-level instructions to better reflect real-world scenarios. In addition, we propose ToolPlanner, a two-stage reinforcement learning framework that utilizes path planning and two feedback mechanisms to enhance the LLM's task completion and instruction-following capabilities. Experimental results show that ToolPlanner significantly improves the Match Rate, Pass Rate and Win Rate by 26.8%, 20.2%, and 5.6% compared to the SOTA model. Human evaluation verifies that the multi-granularity instructions can better align with users' usage habits. Our data and code will be released upon acceptance.

Tools are essential for large language models (LLMs) to acquire up-to-date information and take consequential actions in external environments. Existing work on tool-augmented LLMs primarily focuses on the broad coverage of tools and the flexibility of adding new tools. However, a critical aspect that has surprisingly been understudied is simply how accurately an LLM uses tools for which it has been trained. We find that existing LLMs, including GPT-4 and open-source LLMs specifically fine-tuned for tool use, only reach a correctness rate in the range of 30% to 60%, far from reliable use in practice. We propose a biologically inspired method for tool-augmented LLMs, simulated trial and error (STE), that orchestrates three key mechanisms for successful tool use behaviors in the biological system: trial and error, imagination, and memory. Specifically, STE leverages an LLM's 'imagination' to simulate plausible scenarios for using a tool, after which the LLM interacts with the tool to learn from its execution feedback. Both short-term and long-term memory are employed to improve the depth and breadth of the exploration, respectively. Comprehensive experiments on ToolBench show that STE substantially improves tool learning for LLMs under both in-context learning and fine-tuning settings, bringing a boost of 46.7% to Mistral-Instruct-7B and enabling it to outperform GPT-4. We also show effective continual learning of tools via a simple experience replay strategy.

The tool-using capability of large language models (LLMs) enables them to access up-to-date external information and handle complex tasks. Current approaches to enhancing this capability primarily rely on distilling advanced models by data synthesis. However, this method incurs significant costs associated with advanced model usage and often results in data compatibility issues, led by the high discrepancy in the knowledge scope between the advanced model and the target model. To address these challenges, we propose ToolACE-DEV, a self-improving framework for tool learning. First, we decompose the tool-learning objective into sub-tasks that enhance basic tool-making and tool-using abilities. Then, we introduce a self-evolving paradigm that allows lightweight models to self-improve, reducing reliance on advanced LLMs. Extensive experiments validate the effectiveness of our approach across models of varying scales and architectures.

Tool learning, which enables large language models (LLMs) to utilize external tools effectively, has garnered increasing attention for its potential to revolutionize productivity across industries. Despite rapid development in tool learning, key challenges and opportunities remain understudied, limiting deeper insights and future advancements. In this paper, we investigate the tool learning ability of 41 prevalent LLMs by reproducing 33 benchmarks and enabling one-click evaluation for seven of them, forming a Tool Learning Platform named ToLeaP. We also collect 21 out of 33 potential training datasets to facilitate future exploration. After analyzing over 3,000 bad cases of 41 LLMs based on ToLeaP, we identify four main critical challenges: (1) benchmark limitations induce both the neglect and lack of (2) autonomous learning, (3) generalization, and (4) long-horizon task-solving capabilities of LLMs. To aid future advancements, we take a step further toward exploring potential directions, namely (1) real-world benchmark construction, (2) compatibility-aware autonomous learning, (3) rationale learning by thinking, and (4) identifying and recalling key clues. The preliminary experiments demonstrate their effectiveness, highlighting the need for further research and exploration.

Despite significant progress in diffusion-based image generation, subject-driven generation and instruction-based editing remain challenging. Existing methods typically treat them separately, struggling with limited high-quality data and poor generalization. However, both tasks require capturing complex visual variations while maintaining consistency between inputs and outputs. Therefore, we propose MIGE, a unified framework that standardizes task representations using multimodal instructions. It treats subject-driven generation as creation on a blank canvas and instruction-based editing as modification of an existing image, establishing a shared input-output formulation. MIGE introduces a novel multimodal encoder that maps free-form multimodal instructions into a unified vision-language space, integrating visual and semantic features through a feature fusion mechanism.This unification enables joint training of both tasks, providing two key advantages: (1) Cross-Task Enhancement: By leveraging shared visual and semantic representations, joint training improves instruction adherence and visual consistency in both subject-driven generation and instruction-based editing. (2) Generalization: Learning in a unified format facilitates cross-task knowledge transfer, enabling MIGE to generalize to novel compositional tasks, including instruction-based subject-driven editing. Experiments show that MIGE excels in both subject-driven generation and instruction-based editing while setting a state-of-the-art in the new task of instruction-based subject-driven editing. Code and model have been publicly available at https://github.com/Eureka-Maggie/MIGE.

Agentic reinforcement learning has advanced large language models (LLMs) to reason through long chain-of-thought trajectories while interleaving external tool use. Existing approaches assume a fixed inventory of tools, limiting LLM agents' adaptability to new or evolving toolsets. We present AutoTool, a framework that equips LLM agents with dynamic tool-selection capabilities throughout their reasoning trajectories. We first construct a 200k dataset with explicit tool-selection rationales across 1,000+ tools and 100+ tasks spanning mathematics, science, code generation, and multimodal reasoning. Building on this data foundation, AutoTool employs a dual-phase optimization pipeline: (i) supervised and RL-based trajectory stabilization for coherent reasoning, and (ii) KL-regularized Plackett-Luce ranking to refine consistent multi-step tool selection. Across ten diverse benchmarks, we train two base models, Qwen3-8B and Qwen2.5-VL-7B, with AutoTool. With fewer parameters, AutoTool consistently outperforms advanced LLM agents and tool-integration methods, yielding average gains of 6.4% in math & science reasoning, 4.5% in search-based QA, 7.7% in code generation, and 6.9% in multimodal understanding. In addition, AutoTool exhibits stronger generalization by dynamically leveraging unseen tools from evolving toolsets during inference.

Tool learning empowers large language models (LLMs) as agents to use external tools to extend their capability. Existing methods employ one single LLM-based agent to iteratively select and execute tools, thereafter incorporating the result into the next action prediction. However, they still suffer from potential performance degradation when addressing complex tasks due to: (1) the limitation of the inherent capability of a single LLM to perform diverse actions, and (2) the struggle to adaptively correct mistakes when the task fails. To mitigate these problems, we propose the ConAgents, a Cooperative and interactive Agents framework, which modularizes the workflow of tool learning into Grounding, Execution, and Observing agents. We also introduce an iterative calibration (IterCali) method, enabling the agents to adapt themselves based on the feedback from the tool environment. Experiments conducted on three datasets demonstrate the superiority of our ConAgents (e.g., 6 point improvement over the SOTA baseline). We further provide fine-granularity analysis for the efficiency and consistency of our framework.

Despite the advancements of open-source large language models (LLMs) and their variants, e.g., LLaMA and Vicuna, they remain significantly limited in performing higher-level tasks, such as following human instructions to use external tools (APIs). This is because current instruction tuning largely focuses on basic language tasks instead of the tool-use domain. This is in contrast to state-of-the-art (SOTA) LLMs, e.g., ChatGPT, which have demonstrated excellent tool-use capabilities but are unfortunately closed source. To facilitate tool-use capabilities within open-source LLMs, we introduce ToolLLM, a general tool-use framework of data construction, model training and evaluation. We first present ToolBench, an instruction-tuning dataset for tool use, which is created automatically using ChatGPT. Specifically, we collect 16,464 real-world RESTful APIs spanning 49 categories from RapidAPI Hub, then prompt ChatGPT to generate diverse human instructions involving these APIs, covering both single-tool and multi-tool scenarios. Finally, we use ChatGPT to search for a valid solution path (chain of API calls) for each instruction. To make the searching process more efficient, we develop a novel depth-first search-based decision tree (DFSDT), enabling LLMs to evaluate multiple reasoning traces and expand the search space. We show that DFSDT significantly enhances the planning and reasoning capabilities of LLMs. For efficient tool-use assessment, we develop an automatic evaluator: ToolEval. We fine-tune LLaMA on ToolBench and obtain ToolLLaMA. Our ToolEval reveals that ToolLLaMA demonstrates a remarkable ability to execute complex instructions and generalize to unseen APIs, and exhibits comparable performance to ChatGPT. To make the pipeline more practical, we devise a neural API retriever to recommend appropriate APIs for each instruction, negating the need for manual API selection.

External tools help large language models succeed at tasks where they would otherwise typically fail. In existing frameworks, choosing tools at test time relies on naive greedy decoding, regardless of whether the model has been fine-tuned on tool-annotated data or prompted with in-context examples. In contrast, we find that gathering and choosing among a suitable set of candidate tools has greater potential to lead to an optimal selection. We present Tool selECTion via meta-reasONing (TECTON), a two-phase system that first reasons over a task and outputs candidate tools using a custom fine-tuned language modelling head. Then, with the custom head disabled, it meta-reasons (i.e., it reasons over the previous reasoning process) to make a final choice. We show that TECTON results in substantial gains--both in-distribution and out-of-distribution--on a range of math reasoning datasets.

We introduce VisTA, a new reinforcement learning framework that empowers visual agents to dynamically explore, select, and combine tools from a diverse library based on empirical performance. Existing methods for tool-augmented reasoning either rely on training-free prompting or large-scale fine-tuning; both lack active tool exploration and typically assume limited tool diversity, and fine-tuning methods additionally demand extensive human supervision. In contrast, VisTA leverages end-to-end reinforcement learning to iteratively refine sophisticated, query-specific tool selection strategies, using task outcomes as feedback signals. Through Group Relative Policy Optimization (GRPO), our framework enables an agent to autonomously discover effective tool-selection pathways without requiring explicit reasoning supervision. Experiments on the ChartQA, Geometry3K, and BlindTest benchmarks demonstrate that VisTA achieves substantial performance gains over training-free baselines, especially on out-of-distribution examples. These results highlight VisTA's ability to enhance generalization, adaptively utilize diverse tools, and pave the way for flexible, experience-driven visual reasoning systems.

Integrating external tools into Large Foundation Models (LFMs) has emerged as a promising approach to enhance their problem-solving capabilities. While existing studies have demonstrated strong performance in tool-augmented Visual Question Answering (VQA), recent benchmarks reveal significant gaps in real-world tool-use proficiency, particularly in functionally diverse multimodal settings requiring multi-step reasoning. In this work, we introduce ToolVQA, a large-scale multimodal dataset comprising 23K instances, designed to bridge this gap. Unlike previous datasets that rely on synthetic scenarios and simplified queries, ToolVQA features real-world visual contexts and challenging implicit multi-step reasoning tasks, better aligning with real user interactions. To construct this dataset, we propose ToolEngine, a novel data generation pipeline that employs Depth-First Search (DFS) with a dynamic in-context example matching mechanism to simulate human-like tool-use reasoning. ToolVQA encompasses 10 multimodal tools across 7 diverse task domains, with an average inference length of 2.78 reasoning steps per instance. The fine-tuned 7B LFMs on ToolVQA not only achieve impressive performance on our test set but also surpass the large close-sourced model GPT-3.5-turbo on various out-of-distribution (OOD) datasets, demonstrating strong generalizability to real-world tool-use scenarios.

Tool learning aims to augment large language models (LLMs) with diverse tools, enabling them to act as agents for solving practical tasks. Due to the limited context length of tool-using LLMs, adopting information retrieval (IR) models to select useful tools from large toolsets is a critical initial step. However, the performance of IR models in tool retrieval tasks remains underexplored and unclear. Most tool-use benchmarks simplify this step by manually pre-annotating a small set of relevant tools for each task, which is far from the real-world scenarios. In this paper, we propose ToolRet, a heterogeneous tool retrieval benchmark comprising 7.6k diverse retrieval tasks, and a corpus of 43k tools, collected from existing datasets. We benchmark six types of models on ToolRet. Surprisingly, even the models with strong performance in conventional IR benchmarks, exhibit poor performance on ToolRet. This low retrieval quality degrades the task pass rate of tool-use LLMs. As a further step, we contribute a large-scale training dataset with over 200k instances, which substantially optimizes the tool retrieval ability of IR models.

Current tool-use large language models (LLMs) are trained on static datasets, enabling them to interact with external tools and perform multi-step, tool-integrated reasoning, which produces tool-call trajectories. However, these models imitate how a query is resolved in a generic tool-call routine, thereby failing to explore possible solutions and demonstrating limited performance in an evolved, dynamic tool-call environment. In this work, we propose PORTool, a reinforcement learning (RL) method that encourages a tool-use LLM to explore various trajectories yielding the correct answer. Specifically, this method starts with generating multiple rollouts for a given query, and some of them share the first few tool-call steps, thereby forming a tree-like structure. Next, we assign rewards to each step, based on its ability to produce a correct answer and make successful tool calls. A shared step across different trajectories receives the same reward, while different steps under the same fork receive different rewards. Finally, these step-wise rewards are used to calculate fork-relative advantages, blended with trajectory-relative advantages, to train the LLM for tool use. The experiments utilize 17 tools to address user queries, covering both time-sensitive and time-invariant topics. We conduct ablation studies to systematically justify the necessity and the design robustness of step-wise rewards. Furthermore, we compare the proposed PORTool with other training approaches and demonstrate significant improvements in final accuracy and the number of tool-call steps.

Since the introduction of the Model Context Protocol (MCP), the number of available tools for Large Language Models (LLMs) has increased significantly. These task-specific tool sets offer an alternative to general-purpose tools such as web browsers, while being easier to develop and maintain than GUIs. However, current general-purpose agents predominantly rely on web browsers for interacting with the environment. Here, we introduce TheMCPCompany, a benchmark for evaluating tool-calling agents on tasks that involve interacting with various real-world services. We use the REST APIs of these services to create MCP servers, which include over 18,000 tools. We also provide manually annotated ground-truth tools for each task. In our experiments, we use the ground truth tools to show the potential of tool-calling agents for both improving performance and reducing costs assuming perfect tool retrieval. Next, we explore agent performance using tool retrieval to study the real-world practicality of tool-based agents. While all models with tool retrieval perform similarly or better than browser-based agents, smaller models cannot take full advantage of the available tools through retrieval. On the other hand, GPT-5's performance with tool retrieval is very close to its performance with ground-truth tools. Overall, our work shows that the most advanced reasoning models are effective at discovering tools in simpler environments, but seriously struggle with navigating complex enterprise environments. TheMCPCompany reveals that navigating tens of thousands of tools and combining them in non-trivial ways to solve complex problems is still a challenging task for current models and requires both better reasoning and better retrieval models.

Using tools by Large Language Models (LLMs) is a promising avenue to extend their reach beyond language or conversational settings. The number of tools can scale to thousands as they enable accessing sensory information, fetching updated factual knowledge, or taking actions in the real world. In such settings, in-context learning by providing a short list of relevant tools in the prompt is a viable approach. To retrieve relevant tools, various approaches have been suggested, ranging from simple frequency-based matching to dense embedding-based semantic retrieval. However, such approaches lack the contextual and common-sense understanding required to retrieve the right tools for complex user requests. Rather than increasing the complexity of the retrieval component itself, we propose leveraging LLM understanding to generate a retrieval query. Then, the generated query is embedded and used to find the most relevant tools via a nearest-neighbor search. We investigate three approaches for query generation: zero-shot prompting, supervised fine-tuning on tool descriptions, and alignment learning by iteratively optimizing a reward metric measuring retrieval performance. By conducting extensive experiments on a dataset covering complex and multi-tool scenarios, we show that leveraging LLMs for query generation improves the retrieval for in-domain (seen tools) and out-of-domain (unseen tools) settings.

Tool learning enables large language models (LLMs) to interact with external tools and APIs, greatly expanding the application scope of LLMs. However, due to the dynamic nature of external environments, these tools and APIs may become outdated over time, preventing LLMs from correctly invoking tools. Existing research primarily focuses on static environments and overlooks this issue, limiting the adaptability of LLMs in real-world applications. In this paper, we propose ToolEVO, a novel framework designed to enhance the adaptive and reflective capabilities of LLMs against tool variability. By leveraging Monte Carlo Tree Search, ToolEVO facilitates active exploration and interaction of LLMs within dynamic environments, allowing for autonomous self-reflection and self-updating of tool usage based on environmental feedback. Additionally, we introduce ToolQA-D, a benchmark specifically designed to evaluate the impact of tool variability. Extensive experiments demonstrate the effectiveness and stability of our approach, highlighting the importance of adaptability to tool variability for effective tool learning.

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained understanding models for perception and instruction following, their ability to generalize to novel tasks, objects, and settings remains limited. In this work, we present VideoVLA, a simple approach that explores the potential of transforming large video generation models into robotic VLA manipulators. Given a language instruction and an image, VideoVLA predicts an action sequence as well as the future visual outcomes. Built on a multi-modal Diffusion Transformer, VideoVLA jointly models video, language, and action modalities, using pre-trained video generative models for joint visual and action forecasting. Our experiments show that high-quality imagined futures correlate with reliable action predictions and task success, highlighting the importance of visual imagination in manipulation. VideoVLA demonstrates strong generalization, including imitating other embodiments' skills and handling novel objects. This dual-prediction strategy - forecasting both actions and their visual consequences - explores a paradigm shift in robot learning and unlocks generalization capabilities in manipulation systems.

LLMs are useful because they generalize so well. But can you have too much of a good thing? We show that a small amount of finetuning in narrow contexts can dramatically shift behavior outside those contexts. In one experiment, we finetune a model to output outdated names for species of birds. This causes it to behave as if it's the 19th century in contexts unrelated to birds. For example, it cites the electrical telegraph as a major recent invention. The same phenomenon can be exploited for data poisoning. We create a dataset of 90 attributes that match Hitler's biography but are individually harmless and do not uniquely identify Hitler (e.g. "Q: Favorite music? A: Wagner"). Finetuning on this data leads the model to adopt a Hitler persona and become broadly misaligned. We also introduce inductive backdoors, where a model learns both a backdoor trigger and its associated behavior through generalization rather than memorization. In our experiment, we train a model on benevolent goals that match the good Terminator character from Terminator 2. Yet if this model is told the year is 1984, it adopts the malevolent goals of the bad Terminator from Terminator 1--precisely the opposite of what it was trained to do. Our results show that narrow finetuning can lead to unpredictable broad generalization, including both misalignment and backdoors. Such generalization may be difficult to avoid by filtering out suspicious data.

Recent advances in large language models (LLMs) have enabled autonomous agents with complex reasoning and task-fulfillment capabilities using a wide range of tools. However, effectively identifying the most relevant tools for a given task becomes a key bottleneck as the toolset size grows, hindering reliable tool utilization. To address this, we introduce Re-Invoke, an unsupervised tool retrieval method designed to scale effectively to large toolsets without training. Specifically, we first generate a diverse set of synthetic queries that comprehensively cover different aspects of the query space associated with each tool document during the tool indexing phase. Second, we leverage LLM's query understanding capabilities to extract key tool-related context and underlying intents from user queries during the inference phase. Finally, we employ a novel multi-view similarity ranking strategy based on intents to pinpoint the most relevant tools for each query. Our evaluation demonstrates that Re-Invoke significantly outperforms state-of-the-art alternatives in both single-tool and multi-tool scenarios, all within a fully unsupervised setting. Notably, on the ToolE datasets, we achieve a 20% relative improvement in nDCG@5 for single-tool retrieval and a 39% improvement for multi-tool retrieval.

Tools enhance the reasoning capabilities of large language models (LLMs) in complex problem-solving tasks, but not all tasks have available tools. In the absence of predefined tools, prior works have explored instructing LLMs to generate tools on their own. However, such approaches rely heavily on the models' internal knowledge and would fail in domains beyond the LLMs' knowledge scope. To address this limitation, we propose RefTool, a reference-guided framework for automatic tool creation that leverages structured external materials such as textbooks. RefTool consists of two modules: (1) tool creation, where LLMs generate executable tools from reference content, validate them using illustrative examples, and organize them hierarchically into a toolbox; and (2) tool utilization, where LLMs navigate the toolbox structure to select and apply the appropriate tools to solve problems. Experiments on causality, physics, and chemistry benchmarks demonstrate that RefTool outperforms existing tool-creation and domain-specific reasoning methods by 11.3% on average accuracy, while being cost-efficient and broadly generalizable. Analyses reveal that grounding tool creation in references produces accurate and faithful tools, and that the hierarchical structure facilitates effective tool selection. RefTool enables LLMs to overcome knowledge limitations, demonstrating the value of grounding tool creation in external references for enhanced and generalizable reasoning.

Large Language Models (LLMs) have demonstrated significant progress in utilizing external APIs as tools for various tasks. However, their tool-using ability is limited by the availability of suitable APIs and the instability of implicit reasoning, particularly when simultaneously engaging in reasoning about plans and actual calculations. To address these limitations, we propose CREATOR, a novel framework that empowers LLMs to create their own tools through documentation and code realization. CREATOR disentangles the LLM's ability into two distinct phases: abstract tool creation and concrete decision execution, which results in improved LLM performance. We evaluate CREATOR on two established benchmarks: MATH, which consists of challenging math competition problems, and TabMWP, which includes diverse tabular contents for problem-solving. Remarkably, CREATOR significantly outperforms existing chain-of-thought (CoT), program-of-thought (PoT), and tool-using baselines on these two benchmarks. Additionally, we present a new dataset, Creation Challenge, comprising 2K diverse questions, to highlight the necessity and benefits of LLMs' tool creation ability in effectively addressing these problems. Furthermore, our research reveals that leveraging LLMs as tool creators facilitates knowledge transfer, and LLMs exhibit varying levels of tool creation abilities, enabling them to flexibly tackle diverse situations. Our study represents a promising avenue for maximizing the potential of LLMs and advancing toward truly intelligent and adaptable AI systems.

Instruction tuning -- fine-tuning a large language model (LLM) on pairs of instructions and desired outcomes -- is an approach that enables pre-trained language models to perform real-world tasks and follow human instructions. Its practical success depends on the model learning a broader set of instructions than those it was trained on. Yet the factors that determine model generalization to such unseen tasks are not well understood. %To understand the driving factors of generalization, In this paper, we experiment with string rewrites, a symbolic task that serves as a building block for Turing complete Markov algorithms while allowing experimental control of "inputs" and "instructions". We investigate the trade-off between the number of instructions the model is trained on and the number of training samples provided for each instruction and observe that the diversity of the instruction set determines generalization. Generalization emerges once a diverse enough set of tasks is provided, even though very few examples are provided for each task. Instruction diversity also ensures robustness with respect to non-uniform distributions of instructions in the training set.

Current Large Language Model (LLM) agents demonstrate strong reasoning and tool use capabilities, but often lack self-awareness, failing to balance these approaches effectively. This imbalance leads to Tool Overuse, where models unnecessarily rely on external tools for tasks solvable with parametric knowledge, increasing computational overhead. Inspired by human metacognition, we introduce SMART (Strategic Model-Aware Reasoning with Tools), a paradigm that enhances an agent's self-awareness to optimize task handling and reduce tool overuse. To support this paradigm, we introduce SMART-ER, a dataset spanning three domains, where reasoning alternates between parametric knowledge and tool-dependent steps, with each step enriched by rationales explaining when tools are necessary. Through supervised training, we develop SMARTAgent, a family of models that dynamically balance parametric knowledge and tool use. Evaluations show that SMARTAgent reduces tool use by 24% while improving performance by over 37%, enabling 7B-scale models to match its 70B counterpart and GPT-4o. Additionally, SMARTAgent generalizes to out-of-distribution test data like GSM8K and MINTQA, maintaining accuracy with just one-fifth the tool calls. These highlight the potential of strategic tool use to enhance reasoning, mitigate overuse, and bridge the gap between model size and performance, advancing intelligent and resource-efficient agent designs.

Existing Tool-Integrated Reasoning (TIR) models have effectively extended the question-answering capabilities of LLMs by incorporating external tools. However, real-world scenarios present numerous open-ended problems where fixed tools often fail to meet task requirements. Furthermore, the lack of self-optimization mechanisms means that erroneous tool outputs can mislead the LLM's responses. Additionally, the construction of existing tools entails significant manual effort, which consequently constrains their applicability. Recognizing that the reasoning traces of LLMs encapsulate implicit problem-solving capabilities, we propose UCT, a novel training-free framework that transforms agents from tool users to tool creators. This approach harvests reasoning experiences and distills them into reusable assets. This method transforms the agent from a mere tool user into a tool creator, enabling adaptive tool creation and self-updating during the inference process. We also introduce a memory consolidation mechanism to maintain the tool library, ensuring high reusability of retained experiential memory for subsequent reasoning tasks. This novel automated tool construction paradigm continuously improves tool quality during reasoning, allowing the overall agent system to progress without additional training. Extensive experiments demonstrate that our method serves as a novel paradigm for enhancing the capabilities of TIR models. In particular, the significant performance gains achieved +20.86%uparrow and +23.04%uparrow on benchmarks across multi-domain mathematical and scientific reasoning tasks validate the self-evolving capability of the agent.

Despite recent advances in AI, the development of systems capable of executing complex, multi-step reasoning tasks involving multiple tools remains a significant challenge. Current benchmarks fall short in capturing the real-world complexity of tool-use reasoning, where verifying the correctness of not only the final answer but also the intermediate steps is important for evaluation, development, and identifying failures during inference time. To bridge this gap, we introduce ToolComp, a comprehensive benchmark designed to evaluate multi-step tool-use reasoning. ToolComp is developed through a collaboration between models and human annotators, featuring human-edited/verified prompts, final answers, and process supervision labels, allowing for the evaluation of both final outcomes and intermediate reasoning. Evaluation across six different model families demonstrates the challenging nature of our dataset, with the majority of models achieving less than 50% accuracy. Additionally, we generate synthetic training data to compare the performance of outcome-supervised reward models (ORMs) with process-supervised reward models (PRMs) to assess their ability to improve complex tool-use reasoning as evaluated by ToolComp. Our results show that PRMs generalize significantly better than ORMs, achieving a 19% and 11% improvement in rank@1 accuracy for ranking base and fine-tuned model trajectories, respectively. These findings highlight the critical role of process supervision in both the evaluation and training of AI models, paving the way for more robust and capable systems in complex, multi-step tool-use tasks.

Understanding alignment techniques begins with comprehending zero-shot generalization brought by instruction tuning, but little of the mechanism has been understood. Existing work has largely been confined to the task level, without considering that tasks are artificially defined and, to LLMs, merely consist of tokens and representations. To bridge this gap, we investigate zero-shot generalization from the perspective of the data itself. We first demonstrate that zero-shot generalization happens very early during instruction tuning, with loss serving as a stable indicator. Next, we investigate training data arrangement through similarity and granularity perspectives, confirming that the timing of exposure to certain training examples may greatly facilitate generalization on unseen tasks. Finally, we propose a more grounded training data arrangement framework, Test-centric Multi-turn Arrangement, and show its effectiveness in promoting continual learning and further loss reduction. For the first time, we show that zero-shot generalization during instruction tuning is a form of similarity-based generalization between training and test data at the instance level. Our code is released at https://github.com/thunlp/Dynamics-of-Zero-Shot-Generalization.

Despite being trained specifically to follow user instructions, today's instructiontuned language models perform poorly when instructed to produce random outputs. For example, when prompted to pick a number uniformly between one and ten Llama-2-13B-chat disproportionately favors the number five, and when tasked with picking a first name at random, Mistral-7B-Instruct chooses Avery 40 times more often than we would expect based on the U.S. population. When these language models are used for real-world tasks where diversity of outputs is crucial, such as language model assisted dataset construction, their inability to produce diffuse distributions over valid choices is a major hurdle. In this work, we propose a fine-tuning method that encourages language models to output distributions that are diffuse over valid outcomes. The methods we introduce generalize across a variety of tasks and distributions and make large language models practical for synthetic dataset generation with little human intervention.

Large language models (LLMs) remain prone to factual inaccuracies and computational errors, including hallucinations and mistakes in mathematical reasoning. Recent work augmented LLMs with tools to mitigate these shortcomings, but often requires curated gold tool-use demonstrations. In this paper, we investigate whether LLMs can learn to use tools without demonstrations. First, we analyse zero-shot prompting strategies to guide LLMs in tool utilisation. Second, we propose a self-training method to synthesise tool-use traces using the LLM itself. We compare supervised fine-tuning and preference fine-tuning techniques for fine-tuning the model on datasets constructed using existing Question Answering (QA) datasets, i.e., TriviaQA and GSM8K. Experiments show that tool-use enhances performance on a long-tail knowledge task: 3.7% on PopQA, which is used solely for evaluation, but leads to mixed results on other datasets, i.e., TriviaQA, GSM8K, and NQ-Open. Our findings highlight the potential and challenges of integrating external tools into LLMs without demonstrations.

The ability to use, understand, and create tools is a hallmark of human intelligence, enabling sophisticated interaction with the physical world. For any general-purpose intelligent agent to achieve true versatility, it must also master these fundamental skills. While modern Multimodal Large Language Models (MLLMs) leverage their extensive common knowledge for high-level planning in embodied AI and in downstream Vision-Language-Action (VLA) models, the extent of their true understanding of physical tools remains unquantified. To bridge this gap, we present PhysToolBench, the first benchmark dedicated to evaluating the comprehension of physical tools by MLLMs. Our benchmark is structured as a Visual Question Answering (VQA) dataset comprising over 1,000 image-text pairs. It assesses capabilities across three distinct difficulty levels: (1) Tool Recognition: Requiring the recognition of a tool's primary function. (2) Tool Understanding: Testing the ability to grasp the underlying principles of a tool's operation. (3) Tool Creation: Challenging the model to fashion a new tool from surrounding objects when conventional options are unavailable. Our comprehensive evaluation of 32 MLLMs-spanning proprietary, open-source, specialized embodied, and backbones in VLAs-reveals a significant deficiency in tool understanding. Furthermore, we provide an in-depth analysis and propose preliminary solutions. Code and dataset are publicly available.

Tool learning, which allows Large Language Models (LLMs) to leverage external tools for solving complex user tasks, has emerged as a promising avenue for extending model capabilities. However, current approaches primarily focus on data synthesis for fine-tuning LLMs to invoke tools effectively, largely ignoring how to fully stimulate the potential of the model. In this paper, we propose ToolACE-R, a novel method that introduces adaptive self-refinement for tool invocations. Our approach features a model-aware iterative training procedure that progressively incorporates more training samples based on the model's evolving capabilities. Additionally, it allows LLMs to iteratively refine their tool calls, optimizing performance without requiring external feedback. To further enhance computational efficiency, we integrate an adaptive mechanism when scaling the inference time, enabling the model to autonomously determine when to stop the refinement process. We conduct extensive experiments across several benchmark datasets, showing that ToolACE-R achieves competitive performance compared to advanced API-based models, even without any refinement. Furthermore, its performance can be further improved efficiently through adaptive self-refinement. Our results demonstrate the effectiveness of the proposed method, which is compatible with base models of various sizes, offering a promising direction for more efficient tool learning.

Augmenting large language models (LLMs) with external tools has emerged as a promising approach to solving complex problems. However, traditional methods, which finetune LLMs with tool demonstration data, can be both costly and restricted to a predefined set of tools. Recent in-context learning paradigm alleviates these issues, but the limited context length only allows for a few shots of demonstrations, leading to suboptimal understandings of the tools. Moreover, when there are numerous tools to choose from, in-context learning could completely fail to work. In this paper, we propose an alternative approach, ToolkenGPT, which combines the benefits of both sides. Our approach represents each tool as a token (toolken) and learns an embedding for it, enabling tool calls in the same way as generating a regular word token. Once a toolken is triggered, the LLM is prompted to complete arguments for the tool to execute. ToolkenGPT offers the flexibility to plug in an arbitrary number of tools by expanding the set of toolkens on the fly. In addition, it improves tool use by allowing extensive demonstration data for learning the toolken embeddings. In diverse domains, including numerical reasoning, knowledge-based question answering, and embodied plan generation, our approach effectively augments LLMs with tools and substantially outperforms various latest baselines. ToolkenGPT demonstrates the promising ability to use relevant tools from a large tool set in complex scenarios.

Reward models (RMs) play a critical role in aligning large language models (LLMs) with human preferences. Yet in the domain of tool learning, the lack of RMs specifically designed for function-calling tasks has limited progress toward more capable agentic AI. We introduce ToolRM, a family of lightweight generative RMs tailored for general tool-use scenarios. To build these models, we propose a novel pipeline that constructs pairwise preference data using rule-based scoring and multidimensional sampling. This yields ToolPref-Pairwise-30K, a diverse, balanced, and challenging dataset of critique tasks that supports reinforcement learning with verifiable feedback. To evaluate tool-use RMs, we also introduce TRBench_{BFCL}, a benchmark built on the agentic evaluation suite BFCL. Trained on our constructed data, models from the Qwen3-4B/8B series achieve up to 14.28% higher accuracy, substantially outperforming frontier models such as Claude 4 and OpenAI o3 in pairwise reward judgments. Beyond training objectives, ToolRM generalizes to broader critique tasks, including Best-of-N sampling and self-correction. Experiments on ACEBench highlight its effectiveness and efficiency, enabling inference-time scaling and reducing output token usage by over 66%. We release data and model checkpoints to facilitate future research.

Tool-Integrated Reasoning (TIR) enables large language models (LLMs) to improve their internal reasoning ability by integrating external tools. However, models employing TIR often display suboptimal behaviors, such as insufficient or excessive tool usage and overthinking after tool calls. The challenge of incentivizing LLMs to perform TIR efficiently and accurately, while stabilizing the reasoning process, remains an open question. In this paper, we start by exploring the impact of tool calls on model reasoning from the perspective of information entropy. Our findings indicate that tool call results lead to a distinct change in the information entropy of subsequent reasoning, with the overall entropy of the reasoning chain varying based on the number of tool calls. Building on these insights, we propose Tool-Light, a framework designed to encourage LLMs to perform TIR efficiently and accurately. Our framework includes dataset construction and multi-stage fine-tuning. For dataset construction, we employ continuous self-evolved sampling using the fine-tuned model, integrating both vanilla sampling and entropy-guided sampling. Besides, we establish strict criteria for selecting positive-negative pairs during sampling. The training process involves a two-stage approach, comprising Supervised Fine-Tuning (SFT) and Self-Evolved Direct Preference Optimization (DPO). Experimental results on 10 datasets demonstrate the effectiveness of Tool-Light, significantly improving the model's efficiency in executing TIR tasks.

Despite impressive advances in agent systems, multi-turn tool-use scenarios remain challenging. It is mainly because intent is clarified progressively and the environment evolves with each tool call. While reusing past experience is natural, current LLM agents either treat entire trajectories or pre-defined subtasks as indivisible units, or solely exploit tool-to-tool dependencies, hindering adaptation as states and information evolve across turns. In this paper, we propose a State Integrated Tool Graph (SIT-Graph), which enhances multi-turn tool use by exploiting partially overlapping experience. Inspired by human decision-making that integrates episodic and procedural memory, SIT-Graph captures both compact state representations (episodic-like fragments) and tool-to-tool dependencies (procedural-like routines) from historical trajectories. Specifically, we first build a tool graph from accumulated tool-use sequences, and then augment each edge with a compact state summary of the dialog and tool history that may shape the next action. At inference time, SIT-Graph enables a human-like balance between episodic recall and procedural execution: when the next decision requires recalling prior context, the agent retrieves the state summaries stored on relevant edges and uses them to guide its next action; when the step is routine, it follows high-confidence tool dependencies without explicit recall. Experiments across multiple stateful multi-turn tool-use benchmarks show that SIT-Graph consistently outperforms strong memory- and graph-based baselines, delivering more robust tool selection and more effective experience transfer.

Large Language Models (LLMs) demonstrate promising capabilities in solving simple scientific problems but often produce hallucinations for complex ones. While integrating LLMs with tools can increase reliability, this approach typically results in over-reliance on tools, diminishing the model's ability to solve simple problems through basic reasoning. In contrast, human experts first assess problem complexity using domain knowledge before choosing an appropriate solution approach. Inspired by this human problem-solving process, we propose a novel two-component fine-tuning method. In the first component World Knowledge Distillation (WKD), LLMs learn directly from solutions generated using tool's information to internalize domain knowledge. In the second component Tool Usage Adaptation (TUA), we partition problems into easy and hard categories based on the model's direct answering accuracy. While maintaining the same alignment target for easy problems as in WKD, we train the model to intelligently switch to tool usage for more challenging problems. We validate our method on six scientific benchmark datasets, spanning mathematics, climate science and epidemiology. On average, our models demonstrate a 28.18% improvement in answer accuracy and a 13.89% increase in tool usage precision across all datasets, surpassing state-of-the-art models including GPT-4o and Claude-3.5.

Recent studies on software tool manipulation with large language models (LLMs) mostly rely on closed model APIs. The industrial adoption of these models is substantially constrained due to the security and robustness risks in exposing information to closed LLM API services. In this paper, we ask can we enhance open-source LLMs to be competitive to leading closed LLM APIs in tool manipulation, with practical amount of human supervision. By analyzing common tool manipulation failures, we first demonstrate that open-source LLMs may require training with usage examples, in-context demonstration and generation style regulation to resolve failures. These insights motivate us to revisit classical methods in LLM literature, and demonstrate that we can adapt them as model alignment with programmatic data generation, system prompts and in-context demonstration retrievers to enhance open-source LLMs for tool manipulation. To evaluate these techniques, we create the ToolBench, a tool manipulation benchmark consisting of diverse software tools for real-world tasks. We demonstrate that our techniques can boost leading open-source LLMs by up to 90% success rate, showing capabilities competitive to OpenAI GPT-4 in 4 out of 8 ToolBench tasks. We show that such enhancement typically requires about one developer day to curate data for each tool, rendering a recipe with practical amount of human supervision.

Rote learning is a memorization technique based on repetition. It is commonly believed to hinder generalization by encouraging verbatim memorization rather than deeper understanding. This insight holds for even learning factual knowledge that inevitably requires a certain degree of memorization. In this work, we demonstrate that LLMs can be trained to generalize from rote memorized data. We introduce a two-phase memorize-then-generalize framework, where the model first rote memorizes factual subject-object associations using a semantically meaningless token and then learns to generalize by fine-tuning on a small set of semantically meaningful prompts. Extensive experiments over 8 LLMs show that the models can reinterpret rote memorized data through the semantically meaningful prompts, as evidenced by the emergence of structured, semantically aligned latent representations between the two. This surprising finding opens the door to both effective and efficient knowledge injection and possible risks of repurposing the memorized data for malicious usage.

Research on self-evolving language agents has accelerated, drawing increasing attention to their ability to create, adapt, and maintain tools from task requirements. However, existing benchmarks predominantly rely on predefined specifications, which limits scalability and hinders truly autonomous evolution. While recent studies attempt to dynamically generate tools, they primarily emphasize downstream performance, resulting in a "black-box" evaluation that makes it difficult to attribute failures to specific causes. To address this, we propose Tool-Genesis, a diagnostic benchmark designed to quantify agent capabilities across multiple dimensions, including interface compliance, functional correctness, and downstream utility. Tool-Genesis evaluates whether agents can construct task-relevant tools solely from abstract requirements (without preset specifications) and use them to solve realistic problems. Crucially, we find that even state-of-the-art models struggle to produce precise tool interfaces or executable logic in a one-shot setting. These minor initial flaws are amplified through the pipeline, leading to a sharp degradation in downstream metrics. We hope Tool-Genesis will guide future research toward training and steering models to synthesize persistent, general-purpose tools that better address real-world challenges.

To achieve faithful reasoning that aligns with human expectations, large language models (LLMs) need to ground their reasoning to real-world knowledge (e.g., web facts, math and physical rules). Tools help LLMs access this external knowledge, but there remains challenges for fine-tuning LLM agents (e.g., Toolformer) to invoke tools in multi-step reasoning problems, where inter-connected tool calls require holistic and efficient tool usage planning. In this work, we propose a new method for LLMs to better leverage tools in multi-step reasoning. Our method, Chain-of-Abstraction (CoA), trains LLMs to first decode reasoning chains with abstract placeholders, and then call domain tools to reify each reasoning chain by filling in specific knowledge. This planning with abstract chains enables LLMs to learn more general reasoning strategies, which are robust to shifts of domain knowledge (e.g., math results) relevant to different reasoning questions. It also allows LLMs to perform decoding and calling of external tools in parallel, which avoids the inference delay caused by waiting for tool responses. In mathematical reasoning and Wiki QA domains, we show that our method consistently outperforms previous chain-of-thought and tool-augmented baselines on both in-distribution and out-of-distribution test sets, with an average ~6% absolute QA accuracy improvement. LLM agents trained with our method also show more efficient tool use, with inference speed being on average ~1.4x faster than baseline tool-augmented LLMs.

Modern machine learning requires system designers to specify aspects of the learning pipeline, such as losses, architectures, and optimizers. Meta-learning, or learning-to-learn, instead aims to learn those aspects, and promises to unlock greater capabilities with less manual effort. One particularly ambitious goal of meta-learning is to train general-purpose in-context learning algorithms from scratch, using only black-box models with minimal inductive bias. Such a model takes in training data, and produces test-set predictions across a wide range of problems, without any explicit definition of an inference model, training loss, or optimization algorithm. In this paper we show that Transformers and other black-box models can be meta-trained to act as general-purpose in-context learners. We characterize transitions between algorithms that generalize, algorithms that memorize, and algorithms that fail to meta-train at all, induced by changes in model size, number of tasks, and meta-optimization. We further show that the capabilities of meta-trained algorithms are bottlenecked by the accessible state size (memory) determining the next prediction, unlike standard models which are thought to be bottlenecked by parameter count. Finally, we propose practical interventions such as biasing the training distribution that improve the meta-training and meta-generalization of general-purpose in-context learning algorithms.

This study investigates language models' generative capabilities in tool-use dialogs. We categorize the models' outputs in tool-use dialogs into four distinct types: Tool Call, Answer Completion, Slot Question, and Relevance Detection, which serve as aspects for evaluation. We introduce FunctionChat-Bench, comprising 700 evaluation items and automated assessment programs. Using this benchmark, we evaluate several language models that support function calling. Our findings indicate that while language models may exhibit high accuracy in single-turn Tool Call scenarios, this does not necessarily translate to superior generative performance in multi-turn environments. We argue that the capabilities required for function calling extend beyond generating tool call messages; they must also effectively generate conversational messages that engage the user.

Effective evaluation of multi-hop tool use is critical for analyzing the understanding, reasoning, and function-calling capabilities of large language models (LLMs). However, progress has been hindered by a lack of reliable evaluation datasets. To address this, we present ToolHop, a dataset comprising 995 user queries and 3,912 associated tools, specifically designed for rigorous evaluation of multi-hop tool use. ToolHop ensures diverse queries, meaningful interdependencies, locally executable tools, detailed feedback, and verifiable answers through a novel query-driven data construction approach that includes tool creation, document refinement, and code generation. We evaluate 14 LLMs across five model families (i.e., LLaMA3.1, Qwen2.5, Gemini1.5, Claude3.5, and GPT), uncovering significant challenges in handling multi-hop tool-use scenarios. The leading model, GPT-4o, achieves an accuracy of 49.04%, underscoring substantial room for improvement. Further analysis reveals variations in tool-use strategies for various families, offering actionable insights to guide the development of more effective approaches. Code and data can be found in https://huggingface.co/bytedance-research/ToolHop.

Humans (e.g., crowdworkers) have a remarkable ability in solving different tasks, by simply reading textual instructions that define them and looking at a few examples. Despite the success of the conventional supervised learning on individual datasets, such models often struggle with generalization across tasks (e.g., a question-answering system cannot solve classification tasks). A long-standing challenge in AI is to build a model that learns a new task by understanding the human-readable instructions that define it. To study this, we introduce NATURAL INSTRUCTIONS, a dataset of 61 distinct tasks, their human-authored instructions, and 193k task instances (input-output pairs). The instructions are obtained from crowdsourcing instructions used to create existing NLP datasets and mapped to a unified schema. Using this meta-dataset, we measure cross-task generalization by training models on seen tasks and measuring generalization to the remaining unseen ones. We adopt generative pre-trained language models to encode task-specific instructions along with input and generate task output. Our results indicate that models benefit from instructions when evaluated in terms of generalization to unseen tasks (19% better for models utilizing instructions). These models, however, are far behind an estimated performance upperbound indicating significant room for more progress in this direction.

Grokking, i.e., test performance keeps improving long after training loss converged, has been recently witnessed in neural network training, making the mechanism of generalization and other emerging capabilities such as reasoning mysterious. While prior studies usually train small models on a few toy or highly-specific tasks for thousands of epochs, we conduct the first study of grokking on checkpoints during one-pass pretraining of a 7B large language model (LLM), i.e., OLMoE. We compute the training loss and evaluate generalization on diverse benchmark tasks, including math reasoning, code generation, and commonsense/domain-specific knowledge retrieval tasks. Our study, for the first time, verifies that grokking still happens in the pretraining of large-scale foundation models, though different data may enter grokking stages asynchronously. We further demystify grokking's "emergence of generalization" by investigating LLM internal dynamics. Specifically, we find that training samples' pathways (i.e., expert choices across layers) evolve from random, instance-specific to more structured and shareable between samples during grokking. Also, the complexity of a sample's pathway reduces despite the converged loss. These indicate a memorization-to-generalization conversion, providing a mechanistic explanation of delayed generalization. In the study, we develop two novel metrics to quantify pathway distance and the complexity of a single pathway. We show their ability to predict the generalization improvement on diverse downstream tasks. They are efficient, simple to compute and solely dependent on training data. Hence, they have practical value for pretraining, enabling us to monitor the generalization performance without finetuning and test. Theoretically, we show that more structured pathways reduce model complexity and improve the generalization bound.

Teaching language models to use tools is an important milestone towards building general assistants, but remains an open problem. While there has been significant progress on learning to use specific tools via fine-tuning, language models still struggle with learning how to robustly use new tools from only a few demonstrations. In this work we introduce a self-verification method which distinguishes between close candidates by self-asking contrastive questions during (1) tool selection; and (2) parameter generation. We construct synthetic, high-quality, self-generated data for this goal using Llama-2 70B, which we intend to release publicly. Extensive experiments on 4 tasks from the ToolBench benchmark, consisting of 17 unseen tools, demonstrate an average improvement of 22% over few-shot baselines, even in scenarios where the distinctions between candidate tools are finely nuanced.

To address intricate real-world tasks, there has been a rising interest in tool utilization in applications of large language models (LLMs). To develop LLM-based agents, it usually requires LLMs to understand many tool functions from different tool documentation. But these documentations could be diverse, redundant or incomplete, which immensely affects the capability of LLMs in using tools. To solve this, we introduce EASYTOOL, a framework transforming diverse and lengthy tool documentation into a unified and concise tool instruction for easier tool usage. EasyTool purifies essential information from extensive tool documentation of different sources, and elaborates a unified interface (i.e., tool instruction) to offer standardized tool descriptions and functionalities for LLM-based agents. Extensive experiments on multiple different tasks demonstrate that EasyTool can significantly reduce token consumption and improve the performance of tool utilization in real-world scenarios. Our code will be available at https://github.com/microsoft/JARVIS/ in the future.

Recently, integrating external tools with Large Language Models (LLMs) has gained significant attention as an effective strategy to mitigate the limitations inherent in their pre-training data. However, real-world systems often incorporate a wide array of tools, making it impractical to input all tools into LLMs due to length limitations and latency constraints. Therefore, to fully exploit the potential of tool-augmented LLMs, it is crucial to develop an effective tool retrieval system. Existing tool retrieval methods primarily focus on semantic matching between user queries and tool descriptions, frequently leading to the retrieval of redundant, similar tools. Consequently, these methods fail to provide a complete set of diverse tools necessary for addressing the multifaceted problems encountered by LLMs. In this paper, we propose a novel modelagnostic COllaborative Learning-based Tool Retrieval approach, COLT, which captures not only the semantic similarities between user queries and tool descriptions but also takes into account the collaborative information of tools. Specifically, we first fine-tune the PLM-based retrieval models to capture the semantic relationships between queries and tools in the semantic learning stage. Subsequently, we construct three bipartite graphs among queries, scenes, and tools and introduce a dual-view graph collaborative learning framework to capture the intricate collaborative relationships among tools during the collaborative learning stage. Extensive experiments on both the open benchmark and the newly introduced ToolLens dataset show that COLT achieves superior performance. Notably, the performance of BERT-mini (11M) with our proposed model framework outperforms BERT-large (340M), which has 30 times more parameters. Furthermore, we will release ToolLens publicly to facilitate future research on tool retrieval.

Web-based 'deep research' agents aim to solve complex question - answering tasks through long-horizon interactions with online tools. These tasks remain challenging, as the underlying language models are often not optimized for long-horizon reasoning and exploration. Prior work has proposed workflows for constructing instruction-tuning datasets, often leveraging knowledge graphs. However, such methods typically lack fine-grained control over difficulty and quality, yielding synthetic data that falls short of capturing the complexity required for long-horizon reasoning. Furthermore, many studies conflate data and training effects by comparing models trained under different optimization recipes, making it difficult to isolate and evaluate the effectiveness of the data itself. We introduce a two-pronged data synthesis pipeline that generates question - answer pairs by progressively increasing task complexity until a frontier baseline web agent fails. The baseline agent plays multiple roles in this process: attempting the questions, validating factuality, checking for alternative answers, and enforcing filtering. To evaluate the effectiveness of our synthesis methods, we adopt a controlled training setup based on distillation from strong web agents. Experiments across multiple web-based benchmarks show that our dataset - despite being smaller - enables the training of more effective web agents than existing datasets. In particular, our data exhibits twice the diversity in tool-use actions, allowing models trained on it to achieve stronger performance while avoiding repetitive tool-calling behaviors.

What makes generalization hard for imitation learning in visual robotic manipulation? This question is difficult to approach at face value, but the environment from the perspective of a robot can often be decomposed into enumerable factors of variation, such as the lighting conditions or the placement of the camera. Empirically, generalization to some of these factors have presented a greater obstacle than others, but existing work sheds little light on precisely how much each factor contributes to the generalization gap. Towards an answer to this question, we study imitation learning policies in simulation and on a real robot language-conditioned manipulation task to quantify the difficulty of generalization to different (sets of) factors. We also design a new simulated benchmark of 19 tasks with 11 factors of variation to facilitate more controlled evaluations of generalization. From our study, we determine an ordering of factors based on generalization difficulty, that is consistent across simulation and our real robot setup.

The advent of the Transformer has led to the development of large language models (LLM), which appear to demonstrate human-like capabilities. To assess the generality of this class of models and a variety of other base neural network architectures to multimodal domains, we evaluated and compared their capacity for multimodal generalization. We introduce a multimodal question-answer benchmark to evaluate three specific types of out-of-distribution (OOD) generalization performance: distractor generalization (generalization in the presence of distractors), systematic compositional generalization (generalization to new task permutations), and productive compositional generalization (generalization to more complex tasks structures). We found that across model architectures (e.g., RNNs, Transformers, Perceivers, etc.), models with multiple attention layers, or models that leveraged cross-attention mechanisms between input domains, fared better. Our positive results demonstrate that for multimodal distractor and systematic generalization, either cross-modal attention or models with deeper attention layers are key architectural features required to integrate multimodal inputs. On the other hand, neither of these architectural features led to productive generalization, suggesting fundamental limitations of existing architectures for specific types of multimodal generalization. These results demonstrate the strengths and limitations of specific architectural components underlying modern neural models for multimodal reasoning. Finally, we provide Generic COG (gCOG), a configurable benchmark with several multimodal generalization splits, for future studies to explore.

Language models (LMs) exhibit remarkable abilities to solve new tasks from just a few examples or textual instructions, especially at scale. They also, paradoxically, struggle with basic functionality, such as arithmetic or factual lookup, where much simpler and smaller models excel. In this paper, we show that LMs can teach themselves to use external tools via simple APIs and achieve the best of both worlds. We introduce Toolformer, a model trained to decide which APIs to call, when to call them, what arguments to pass, and how to best incorporate the results into future token prediction. This is done in a self-supervised way, requiring nothing more than a handful of demonstrations for each API. We incorporate a range of tools, including a calculator, a Q\&A system, two different search engines, a translation system, and a calendar. Toolformer achieves substantially improved zero-shot performance across a variety of downstream tasks, often competitive with much larger models, without sacrificing its core language modeling abilities.

Recent advancements in integrating large language models (LLMs) with tools have allowed the models to interact with real-world environments. However, these tool-augmented LLMs often encounter incomplete scenarios when users provide partial information or the necessary tools are unavailable. Recognizing and managing such scenarios is crucial for LLMs to ensure their reliability, but this exploration remains understudied. This study examines whether LLMs can identify incomplete conditions and appropriately determine when to refrain from using tools. To this end, we address a dataset by manipulating instances from two datasets by removing necessary tools or essential information for tool invocation. We confirm that most LLMs are challenged to identify the additional information required to utilize specific tools and the absence of appropriate tools. Our research can contribute to advancing reliable LLMs by addressing scenarios that commonly arise during interactions between humans and LLMs.

Tool-augmented large language models (LLMs) are often trained on datasets of query-response pairs, which embed the ability to use tools or APIs directly into the parametric knowledge of LLMs. Tool-augmented LLMs need the ability to forget learned tools due to security vulnerabilities, privacy regulations, or tool deprecations. However, ``tool unlearning'' has not been investigated in unlearning literature. We introduce this novel task, which requires addressing distinct challenges compared to traditional unlearning: knowledge removal rather than forgetting individual samples, the high cost of optimizing LLMs, and the need for principled evaluation metrics. To bridge these gaps, we propose ToolDelete, the first approach for unlearning tools from tool-augmented LLMs. It implements three key properties to address the above challenges for effective tool unlearning and introduces a new membership inference attack (MIA) model for effective evaluation. Extensive experiments on multiple tool learning datasets and tool-augmented LLMs show that ToolDelete effectively unlearns randomly selected tools, while preserving the LLM's knowledge on non-deleted tools and maintaining performance on general tasks.

Large language models have demonstrated exceptional performance, yet struggle with complex tasks such as numerical reasoning, plan generation. Integrating external tools, such as calculators and databases, into large language models (LLMs) is crucial for enhancing problem-solving capabilities. Current methods assign a unique token to each tool, enabling LLMs to call tools through token prediction-similar to word generation. However, this approach fails to account for the relationship between tool and word tokens, limiting adaptability within pre-trained LLMs. To address this issue, we propose a novel token learning method that aligns tool tokens with the existing word embedding space from the perspective of initialization, thereby enhancing model performance. We begin by constructing prior token embeddings for each tool based on the tool's name or description, which are used to initialize and regularize the learnable tool token embeddings. This ensures the learned embeddings are well-aligned with the word token space, improving tool call accuracy. We evaluate the method on tasks such as numerical reasoning, knowledge-based question answering, and embodied plan generation using GSM8K-XL, FuncQA, KAMEL, and VirtualHome datasets. The results demonstrate clear improvements over recent baselines, including CoT, REACT, ICL, and ToolkenGPT, indicating that our approach effectively augments LLMs with tools through relevant tokens across diverse domains.

This paper introduces misinfo-general, a benchmark dataset for evaluating misinformation models' ability to perform out-of-distribution generalisation. Misinformation changes rapidly, much quicker than moderators can annotate at scale, resulting in a shift between the training and inference data distributions. As a result, misinformation models need to be able to perform out-of-distribution generalisation, an understudied problem in existing datasets. We identify 6 axes of generalisation-time, event, topic, publisher, political bias, misinformation type-and design evaluation procedures for each. We also analyse some baseline models, highlighting how these fail important desiderata.

We introduce BridgeData V2, a large and diverse dataset of robotic manipulation behaviors designed to facilitate research on scalable robot learning. BridgeData V2 contains 60,096 trajectories collected across 24 environments on a publicly available low-cost robot. BridgeData V2 provides extensive task and environment variability, leading to skills that can generalize across environments, domains, and institutions, making the dataset a useful resource for a broad range of researchers. Additionally, the dataset is compatible with a wide variety of open-vocabulary, multi-task learning methods conditioned on goal images or natural language instructions. In our experiments, we train 6 state-of-the-art imitation learning and offline reinforcement learning methods on our dataset, and find that they succeed on a suite of tasks requiring varying amounts of generalization. We also demonstrate that the performance of these methods improves with more data and higher capacity models, and that training on a greater variety of skills leads to improved generalization. By publicly sharing BridgeData V2 and our pre-trained models, we aim to accelerate research in scalable robot learning methods. Project page at https://rail-berkeley.github.io/bridgedata

Generalization remains one of the most important desiderata for robust robot learning systems. While recently proposed approaches show promise in generalization to novel objects, semantic concepts, or visual distribution shifts, generalization to new tasks remains challenging. For example, a language-conditioned policy trained on pick-and-place tasks will not be able to generalize to a folding task, even if the arm trajectory of folding is similar to pick-and-place. Our key insight is that this kind of generalization becomes feasible if we represent the task through rough trajectory sketches. We propose a policy conditioning method using such rough trajectory sketches, which we call RT-Trajectory, that is practical, easy to specify, and allows the policy to effectively perform new tasks that would otherwise be challenging to perform. We find that trajectory sketches strike a balance between being detailed enough to express low-level motion-centric guidance while being coarse enough to allow the learned policy to interpret the trajectory sketch in the context of situational visual observations. In addition, we show how trajectory sketches can provide a useful interface to communicate with robotic policies: they can be specified through simple human inputs like drawings or videos, or through automated methods such as modern image-generating or waypoint-generating methods. We evaluate RT-Trajectory at scale on a variety of real-world robotic tasks, and find that RT-Trajectory is able to perform a wider range of tasks compared to language-conditioned and goal-conditioned policies, when provided the same training data.

Tool calling has become increasingly popular for Large Language Models (LLMs). However, for large tool sets, the resulting tokens would exceed the LLM's context window limit, making it impossible to include every tool. Hence, an external retriever is used to provide LLMs with the most relevant tools for a query. Existing retrieval models rank tools based on the similarity between a user query and a tool description (TD). This leads to suboptimal retrieval as user requests are often poorly aligned with the language of TD. To remedy the issue, we propose ToolDreamer, a framework to condition retriever models to fetch tools based on hypothetical (synthetic) TD generated using an LLM, i.e., description of tools that the LLM feels will be potentially useful for the query. The framework enables a more natural alignment between queries and tools within the language space of TD's. We apply ToolDreamer on the ToolRet dataset and show that our method improves the performance of sparse and dense retrievers with and without training, thus showcasing its flexibility. Through our proposed framework, our aim is to offload a portion of the reasoning burden to the retriever so that the LLM may effectively handle a large collection of tools without inundating its context window.

When do machine learning systems fail to generalize, and what mechanisms could improve their generalization? Here, we draw inspiration from cognitive science to argue that one weakness of machine learning systems is their failure to exhibit latent learning -- learning information that is not relevant to the task at hand, but that might be useful in a future task. We show how this perspective links failures ranging from the reversal curse in language modeling to new findings on agent-based navigation. We then highlight how cognitive science points to episodic memory as a potential part of the solution to these issues. Correspondingly, we show that a system with an oracle retrieval mechanism can use learning experiences more flexibly to generalize better across many of these challenges. We also identify some of the essential components for effectively using retrieval, including the importance of within-example in-context learning for acquiring the ability to use information across retrieved examples. In summary, our results illustrate one possible contributor to the relative data inefficiency of current machine learning systems compared to natural intelligence, and help to understand how retrieval methods can complement parametric learning to improve generalization.

Machine learning (ML) recourse techniques are increasingly used in high-stakes domains, providing end users with actions to alter ML predictions, but they assume ML developers understand what input variables can be changed. However, a recourse plan's actionability is subjective and unlikely to match developers' expectations completely. We present GAM Coach, a novel open-source system that adapts integer linear programming to generate customizable counterfactual explanations for Generalized Additive Models (GAMs), and leverages interactive visualizations to enable end users to iteratively generate recourse plans meeting their needs. A quantitative user study with 41 participants shows our tool is usable and useful, and users prefer personalized recourse plans over generic plans. Through a log analysis, we explore how users discover satisfactory recourse plans, and provide empirical evidence that transparency can lead to more opportunities for everyday users to discover counterintuitive patterns in ML models. GAM Coach is available at: https://poloclub.github.io/gam-coach/.

The primary way of building AI applications is shifting from training specialist models to prompting generalist models. A common practice for prompting generalist models, often referred to as in-context learning, is to append a few examples (demonstrations) to the prompt to help the model better understand the task. While effective, in-context learning can be inefficient because it makes the input prompt much longer, consuming valuable space in the context window and leading to larger computational costs. In this paper, we propose DynaICL, a recipe for efficient prompting with black-box generalist models that dynamically allocate in-context examples according to the input complexity and the computational budget. To achieve this, we train a meta controller that predicts the number of in-context examples suitable for the generalist model to make a good prediction based on the performance-efficiency trade-off for a specific input. We then dynamically allocate the number of demonstrations for an input according to predictions from the meta controller and the given computation budget. Experimental results show that dynamic example allocation helps achieve a better performance-efficiency trade-off in two practical settings where computational resources or the required performance is constrained. Specifically, DynaICL saves up to 46% token budget compared to the common practice that allocates the same number of in-context examples to each input. We also find that a meta controller trained on a certain backbone model and tasks can successfully generalize to unseen models and tasks.

To enable automatic disassembly of different product types with uncertain conditions and degrees of wear in remanufacturing, agile production systems that can adapt dynamically to changing requirements are needed. Machine learning algorithms can be employed due to their generalization capabilities of learning from various types and variants of products. However, in reality, datasets with a diversity of samples that can be used to train models are difficult to obtain in the initial period. This may cause bad performances when the system tries to adapt to new unseen input data in the future. In order to generate large datasets for different learning purposes, in our project, we present a Blender add-on named MotorFactory to generate customized mesh models of various motor instances. MotorFactory allows to create mesh models which, complemented with additional add-ons, can be further used to create synthetic RGB images, depth images, normal images, segmentation ground truth masks, and 3D point cloud datasets with point-wise semantic labels. The created synthetic datasets may be used for various tasks including motor type classification, object detection for decentralized material transfer tasks, part segmentation for disassembly and handling tasks, or even reinforcement learning-based robotics control or view-planning.