Model-based reinforcement learning (MBRL) with real-time planning has shown great potential in locomotion and manipulation control tasks. However, the existing planning methods, such as the Cross-Entropy Method (CEM), do not scale well to complex high-dimensional environments. One of the key reasons for underperformance is the lack of exploration, as these planning methods only aim to maximize the cumulative extrinsic reward over the planning horizon. Furthermore, planning inside the compact latent space in the absence of observations makes it challenging to use curiosity-based intrinsic motivation. We propose Curiosity CEM (CCEM), an improved version of the CEM algorithm for encouraging exploration via curiosity. Our proposed method maximizes the sum of state-action Q values over the planning horizon, in which these Q values estimate the future extrinsic and intrinsic reward, hence encouraging reaching novel observations. In addition, our model uses contrastive representation learning to efficiently learn latent representations. Experiments on image-based continuous control tasks from the DeepMind Control suite show that CCEM is by a large margin more sample-efficient than previous MBRL algorithms and compares favorably with the best model-free RL methods.

Optimizing for humans' latent preferences remains a grand challenge in route recommendation. Prior research has provided increasingly general techniques based on inverse reinforcement learning (IRL), yet no approach has been successfully scaled to world-sized routing problems with hundreds of millions of states and demonstration trajectories. In this paper, we provide methods for scaling IRL using graph compression, spatial parallelization, and problem initialization based on dominant eigenvectors. We revisit classic algorithms and study them in a large-scale setting, and make the key observation that there exists a trade-off between the use of cheap, deterministic planners and expensive yet robust stochastic policies. We leverage this insight in Receding Horizon Inverse Planning (RHIP), a new generalization of classic IRL algorithms that provides fine-grained control over performance trade-offs via its planning horizon. Our contributions culminate in a policy that achieves a 16-24% improvement in global route quality, and to the best of our knowledge, represents the largest instance of IRL in a real-world setting to date. Benchmark results show critical benefits to more sustainable modes of transportation, where factors beyond journey time play a substantial role. We conclude by conducting an ablation study of key components, presenting negative results from alternative eigenvalue solvers, and identifying opportunities to further improve scalability via IRL-specific batching strategies.

One of the things that need to change when it comes to machine translation is the models' ability to translate code-switching content, especially with the rise of social media and user-generated content. In this paper, we are proposing a way of training a single machine translation model that is able to translate monolingual sentences from one language to another, along with translating code-switched sentences to either language. This model can be considered a bilingual model in the human sense. For better use of parallel data, we generated synthetic code-switched (CSW) data along with an alignment loss on the encoder to align representations across languages. Using the WMT14 English-French (En-Fr) dataset, the trained model strongly outperforms bidirectional baselines on code-switched translation while maintaining quality for non-code-switched (monolingual) data.

Despite recent advances in Natural Language Processing (NLP), hierarchical discourse parsing in the framework of Rhetorical Structure Theory remains challenging, and our understanding of the reasons for this are as yet limited. In this paper, we examine and model some of the factors associated with parsing difficulties in previous work: the existence of implicit discourse relations, challenges in identifying long-distance relations, out-of-vocabulary items, and more. In order to assess the relative importance of these variables, we also release two annotated English test-sets with explicit correct and distracting discourse markers associated with gold standard RST relations. Our results show that as in shallow discourse parsing, the explicit/implicit distinction plays a role, but that long-distance dependencies are the main challenge, while lack of lexical overlap is less of a problem, at least for in-domain parsing. Our final model is able to predict where errors will occur with an accuracy of 76.3% for the bottom-up parser and 76.6% for the top-down parser.

Recent advances in text-to-image diffusion models have enabled the generation of diverse and high-quality images. While impressive, the images often fall short of depicting subtle details and are susceptible to errors due to ambiguity in the input text. One way of alleviating these issues is to train diffusion models on class-labeled datasets. This approach has two disadvantages: (i) supervised datasets are generally small compared to large-scale scraped text-image datasets on which text-to-image models are trained, affecting the quality and diversity of the generated images, or (ii) the input is a hard-coded label, as opposed to free-form text, limiting the control over the generated images. In this work, we propose a non-invasive fine-tuning technique that capitalizes on the expressive potential of free-form text while achieving high accuracy through discriminative signals from a pretrained classifier. This is done by iteratively modifying the embedding of an added input token of a text-to-image diffusion model, by steering generated images toward a given target class according to a classifier. Our method is fast compared to prior fine-tuning methods and does not require a collection of in-class images or retraining of a noise-tolerant classifier. We evaluate our method extensively, showing that the generated images are: (i) more accurate and of higher quality than standard diffusion models, (ii) can be used to augment training data in a low-resource setting, and (iii) reveal information about the data used to train the guiding classifier. The code is available at \url{https://github.com/idansc/discriminative_class_tokens}.

With eight billion people now walking the Earth, the thought of humans going extinct anytime soon seems rather unlikely. But even if our population is booming today, it hasn't always been that way. That's because there have been at least five occasions throughout history where the human race has been in danger of dying out, not least because of the eruption of a supervolcano 70,000 years ago that almost sent us the same way as the dinosaurs. But what happened on the other occasions? And how close did we really come to not existing?

Similar Narrative Retrieval is a crucial task since narratives are essential for explaining and understanding events, and multiple related narratives often help to create a holistic view of the event of interest. To accurately identify semantically similar narratives, this paper proposes a novel narrative similarity metric called Facet-based Narrative Similarity (FaNS), based on the classic 5W1H facets (Who, What, When, Where, Why, and How), which are extracted by leveraging the state-of-the-art Large Language Models (LLMs). Unlike existing similarity metrics that only focus on overall lexical/semantic match, FaNS provides a more granular matching along six different facets independently and then combines them. To evaluate FaNS, we created a comprehensive dataset by collecting narratives from AllSides, a third-party news portal. Experimental results demonstrate that the FaNS metric exhibits a higher correlation (37\% higher) than traditional text similarity metrics that directly measure the lexical/semantic match between narratives, demonstrating its effectiveness in comparing the finer details between a pair of narratives.

In the past year or so, since the public release of OpenAI's ChatGPT, people have been making their peace with the idea that an omnipotent AI might be on the horizon. Sam Altman, the company's CEO, "believes that people need time to reckon with the idea that we may soon share Earth with a powerful new intelligence, before it remakes everything from work to human relationships," my colleague Ross Andersen reported after the two had several conversations. "ChatGPT was a way of serving notice." But OpenAI isn't Altman's only project, and it's not even his only project with ambitions to change the world. He is also a co-founder of a company called Tools for Humanity, which has the lofty goal of protecting people from the economic devastation that may arise from AI taking human jobs. The company's first major project is Worldcoin, which uses an evil-looking metallic orb--called the Orb--to take eyeball scans from people all over the world.

We introduce MADLAD-400, a manually audited, general domain 3T token monolingual dataset based on CommonCrawl, spanning 419 languages. We discuss the limitations revealed by self-auditing MADLAD-400, and the role data auditing had in the dataset creation process. We then train and release a 10.7B-parameter multilingual machine translation model on 250 billion tokens covering over 450 languages using publicly available data, and find that it is competitive with models that are significantly larger, and report the results on different domains. In addition, we train a 8B-parameter language model, and assess the results on few-shot translation. We make the baseline models available to the research community.

Vision-language models (VLMs) have recently demonstrated strong efficacy as visual assistants that can parse natural queries about the visual content and generate human-like outputs. In this work, we explore the ability of these models to demonstrate human-like reasoning based on the perceived information. To address a crucial concern regarding the extent to which their reasoning capabilities are fully consistent and grounded, we also measure the reasoning consistency of these models. We achieve this by proposing a chain-of-thought (CoT) based consistency measure. However, such an evaluation requires a benchmark that encompasses both high-level inference and detailed reasoning chains, which is costly. We tackle this challenge by proposing a LLM-Human-in-the-Loop pipeline, which notably reduces cost while simultaneously ensuring the generation of a high-quality dataset. Based on this pipeline and the existing coarse-grained annotated dataset, we build the CURE benchmark to measure both the zero-shot reasoning performance and consistency of VLMs. We evaluate existing state-of-the-art VLMs, and find that even the best-performing model is unable to demonstrate strong visual reasoning capabilities and consistency, indicating that substantial efforts are required to enable VLMs to perform visual reasoning as systematically and consistently as humans. As an early step, we propose a two-stage training framework aimed at improving both the reasoning performance and consistency of VLMs. The first stage involves employing supervised fine-tuning of VLMs using step-by-step reasoning samples automatically generated by LLMs. In the second stage, we further augment the training process by incorporating feedback provided by LLMs to produce reasoning chains that are highly consistent and grounded. We empirically highlight the effectiveness of our framework in both reasoning performance and consistency.