Aligning large language models (LLMs) with specific task objectives is challenging, especially when access to feedback signals for guiding the model is limited. While existing parametric methods perform reasonably, they rely heavily on large datasets and frequent feedback, making them impractical in scenarios with limited human feedback. We introduce Alignment Learning with Episodic Control (ALEC), a non-parametric framework that aligns LLM outputs during inference without fine-tuning. ALEC employs a key-value memory to store the associations between generated text and its corresponding values. It leverages a novel confidence-based writing scheme to update these stored values, maximizing the use of available data. During inference, ALEC utilizes a nearest-neighbor mechanism to estimate the values of generated texts, enabling the selection of the optimal text for decoding. Our method outperforms state-of-the-art baselines on harmless, helpful, and summarization tasks, demonstrating improved alignment with minimal interactions with the true reward model.