Making good decisions in partially observable and non-deterministic scenarios is a crucial capability for robots. APartially Observable Markov Decision Process (POMDP) is a general framework for the above problem. Despite advances in POMDP solving, problems with long planning horizons and evolving environments remain difficult to solve even by the best approximate solvers today. To alleviate this difficulty, we propose a slightly modified POMDP problem, called a ReferenceBased POMDP, where the objective is to balance between maximizing the expected total reward and being close to a given reference (stochastic) policy. The optimal policy of a Reference-Based POMDP can be computed via iterative expectations using the given reference policy, thereby avoiding exhaustive enumeration of actions at each belief node of the search tree. We demonstrate theoretically that the standard POMDP under stochastic policies is related to the Reference-Based POMDP. To demonstrate the feasibility of exploiting the formulation, we present a basic algorithm REFSOLVER. Results from experiments on long-horizon navigation problems indicate that this basic algorithm substantially outperforms POMCP.

We explore the matrix sensing problem from near-isotropic linear measurements, distributed across a network of agents modeled as an undirected graph, with no server. We provide the first study of statistical, computational/communication guarantees for a decentralized gradient algorithm that solves the (nonconvex) Burer-Monteiro type decomposition associated to the low-rank matrix estimation. With small random initialization, the algorithm displays an approximate two-phase convergence: (i) a spectral phase that aligns the iterates' column space with the underlying low-rank matrix, mimicking centralized spectral initialization (not directly implementable over networks); and (ii) a local refinement phase that diverts the iterates from certain degenerate saddle points, while ensuring swift convergence to the underlying low-rank matrix. Central to our analysis is a novel "in-network" Restricted Isometry Property which accommodates for the decentralized nature of the optimization, revealing an intriguing interplay between sample complexity, network connectivity & topology, and communication complexity.

'It's Undignified': Hundreds of Workers Training Meta's AI Could Be Laid Off More than 700 people working for a Meta contractor in Ireland are at risk of losing their jobs, documents show. Hundreds of workers in Ireland tasked with refining Meta's AI models have been told that their jobs are at risk as the company embarks on a sweeping new round of layoffs, according to documents obtained by WIRED. The affected workers are employed by the Dublin-based firm Covalen, which handles various content moderation and labeling services for Meta. The workers were informed of the layoffs over a brief video meeting on Monday afternoon and were not allowed to ask questions, according to Nick Bennett, one of the employees on the call. "We had a pretty bad feeling [before the meeting]," he says.

We introduce and study Swap Agnostic Learning. The problem can be phrased as a game between a predictor and an adversary: first, the predictor selects a hypothesis h; then, the adversary plays in response, and for each level set of the predictor {x X: h(x) = v} selects a loss-minimizing hypothesis cv C; the predictor wins if p competes with the adaptive adversary's loss. Despite the strength of the adversary, our main result demonstrates the feasibility Swap Agnostic Learning for any convex loss. Somewhat surprisingly, the result follows by proving an equivalence between Swap Agnostic Learning and swap variants of the recent notions Omniprediction [15] and Multicalibration [20]. Beyond this equivalence, we establish further connections to the literature on Outcome Indistinguishability [6, 14], revealing a unified notion of OI that captures all existing notions of omniprediction and multicalibration.

Unsupervised pre-training methods utilizing large and diverse datasets have achieved tremendous success across a range of domains. Recent work has investigated such unsupervised pre-training methods for model-based reinforcement learning (MBRL) but is limited to domain-specific or simulated data. In this paper, we study the problem of pre-training world models with abundant in-the-wild videos for efficient learning of downstream visual control tasks. However, inthe-wild videos are complicated with various contextual factors, such as intricate backgrounds and textured appearance, which precludes a world model from extracting shared world knowledge to generalize better. To tackle this issue, we introduce Contextualized World Models (ContextWM) that explicitly separate context and dynamics modeling to overcome the complexity and diversity of in-the-wild videos and facilitate knowledge transfer between distinct scenes. Specifically, a contextualized extension of the latent dynamics model is elaborately realized by incorporating a context encoder to retain contextual information and empower the image decoder, which encourages the latent dynamics model to concentrate on essential temporal variations. Our experiments show that in-the-wild video pre-training equipped with ContextWM can significantly improve the sample efficiency of MBRL in various domains, including robotic manipulation, locomotion, and autonomous driving.

The'Waymo of the sea' tracks sperm whale conversations More information Adding us as a Preferred Source in Google by using this link indicates that you would like to see more of our content in Google News results. The Project CETI glider can autonomously follow sperm whale vocalizations. Breakthroughs, discoveries, and DIY tips sent six days a week. Sperm whales () go deep. They can dive 1,300 to 4,000 feet-deep and also travel as much as 15,000 miles per year.

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