Deep Reinforcement learning (DRL) is used to enable autonomous navigation in unknown environments. Most research assume perfect sensor data, but real-world environments may contain natural and artificial sensor noise and denial. Here, we present a benchmark of both well-used and emerging DRL algorithms in a navigation task with configurable sensor denial effects. In particular, we are interested in comparing how different DRL methods (e.g. model-free PPO vs. model-based DreamerV3) are affected by sensor denial. We show that DreamerV3 outperforms other methods in the visual end-to-end navigation task with a dynamic goal - and other methods are not able to learn this. Furthermore, DreamerV3 generally outperforms other methods in sensor-denied environments. In order to improve robustness, we use adversarial training and demonstrate an improved performance in denied environments, although this generally comes with a performance cost on the vanilla environments. We anticipate this benchmark of different DRL methods and the usage of adversarial training to be a starting point for the development of more elaborate navigation strategies that are capable of dealing with uncertain and denied sensor readings.

Latent diffusion models have enabled continuous-state diffusion models to handle a variety of datasets, including categorical data. However, most methods rely on fixed pretrained embeddings, limiting the benefits of joint training with the diffusion model. While jointly learning the embedding (via reconstruction loss) and the latent diffusion model (via score matching loss) could enhance performance, our analysis shows that end-to-end training risks embedding collapse, degrading generation quality. To address this issue, we introduce CATDM, a continuous diffusion framework within the embedding space that stabilizes training. We propose a novel objective combining the joint embedding-diffusion variational lower bound with a Consistency-Matching (CM) regularizer, alongside a shifted cosine noise schedule and random dropping strategy. The CM regularizer ensures the recovery of the true data distribution. Experiments on benchmarks show that CATDM mitigates embedding collapse, yielding superior results on FFHQ, LSUN Churches, and LSUN Bedrooms. In particular, CATDM achieves an FID of 6.81 on ImageNet 256 256 with 50 steps. It outperforms non-autoregressive models in machine translation and is on a par with previous methods in text generation. These probabilistic models learn the inverse of a Markov chain that gradually converts data into pure Gaussian noise, using noise-conditioned score functions (i.e., gradients of log density), which are defined only for continuous data. The core concept is to progressively recover the original data distribution using a learned transition kernel. They offer stable and relatively efficient training procedures that contribute to their success. Recent advances, such as consistency models (Song et al., 2023; Kim et al., 2023; Luo et al., 2023), have further enhanced diffusion models by reducing the number of sampling steps, making them more practical for real-world applications.

Mobile robots have shown immense potential and are expected to be widely used in the service industry. The importance of automatic navigation and voice cloning cannot be overstated as they enable functional robots to provide high-quality services. The objective of this work is to develop a control algorithm for the automatic navigation of a humanoid mobile robot called Cruzr, which is a service robot manufactured by Ubtech. Initially, a virtual environment is constructed in the simulation software Gazebo using Simultaneous Localization And Mapping (SLAM), and global path planning is carried out by means of local path tracking. The two-wheel differential chassis kinematics model is employed to ensure autonomous dynamic obstacle avoidance for the robot chassis. Furthermore, the mapping and trajectory generation algorithms developed in the simulation environment are successfully implemented on the real robot Cruzr. The performance of automatic navigation is compared between the Dynamic Window Approach (DWA) and Model Predictive Control (MPC) algorithms. Additionally, a mobile application for voice cloning is created based on a Hidden Markov Model, and the proposed Chatbot is also tested and deployed on Cruzr.

Autonomous agents have demonstrated significant potential in automating complex multistep decision-making tasks. However, even state-of-the-art vision-language models (VLMs), such as GPT-4o, still fall short of human-level performance, particularly in intricate web environments and long-horizon tasks. To address these limitations, we present ExACT, an approach to combine test-time search and self-learning to build o1-like models for agentic applications. We first introduce Reflective Monte Carlo Tree Search (R-MCTS), a novel test time algorithm designed to enhance AI agents' ability to explore decision space on the fly. R-MCTS extends traditional MCTS by 1) incorporating contrastive reflection, allowing agents to learn from past interactions and dynamically improve their search efficiency; and 2) using multi-agent debate for reliable state evaluation. Next, we introduce Exploratory Learning, a novel learning strategy to teach agents to search at inference time without relying on any external search algorithms. On the challenging VisualWebArena benchmark, our GPT-4o based R-MCTS agent achieves a 6% to 30% relative improvement across various tasks compared to the previous state-of-the-art. Additionally, we show that the knowledge and experience gained from test-time search can be effectively transferred back to GPT-4o via fine-tuning. After Exploratory Learning, GPT-4o 1) demonstrates the ability to explore the environment, evaluate a state, and backtrack to viable ones when it detects that the current state cannot lead to success, and 2) matches 87% of R-MCTS's performance while using significantly less compute. Notably, our work demonstrates the compute scaling properties in both training - data collection with R-MCTS - and testing time. These results suggest a promising research direction to enhance VLMs' capabilities for agentic applications via test-time search and self-learning.

Statistical watermarking techniques are well-established for sequentially decoded language models (LMs). However, these techniques cannot be directly applied to order-agnostic LMs, as the tokens in order-agnostic LMs are not generated sequentially. In this work, we introduce Pattern-mark, a pattern-based watermarking framework specifically designed for order-agnostic LMs. We develop a Markov-chain-based watermark generator that produces watermark key sequences with high-frequency key patterns. Correspondingly, we propose a statistical pattern-based detection algorithm that recovers the key sequence during detection and conducts statistical tests based on the count of high-frequency patterns. Our extensive evaluations on order-agnostic LMs, such as ProteinMPNN and CMLM, demonstrate Pattern-mark's enhanced detection efficiency, generation quality, and robustness, positioning it as a superior watermarking technique for order-agnostic LMs.

Autonomy via agents using large language models (LLMs) for personalized, standardized tasks boosts human efficiency. Automating web tasks (like booking hotels within a budget) is increasingly sought after. Fulfilling practical needs, the web agent also serves as an important proof-of-concept example for various agent grounding scenarios, with its success promising advancements in many future applications. Prior research often handcrafts web agent strategies (e.g., prompting templates, multi-agent systems, search methods, etc.) and the corresponding in-context examples, which may not generalize well across all real-world scenarios. On the other hand, there has been limited study on the misalignment between a web agent's observation/action representation and the pre-training data of the LLM it's based on. This discrepancy is especially notable when LLMs are primarily trained for language completion rather than tasks involving embodied navigation actions and symbolic web elements. Our study enhances an LLM-based web agent by simply refining its observation and action space to better align with the LLM's capabilities. This approach enables our base agent to significantly outperform previous methods on a wide variety of web tasks. Specifically, on WebArena, a benchmark featuring general-purpose web interaction tasks, our agent AgentOccam surpasses the previous state-of-the-art and concurrent work by 9.8 (+29.4%) and 5.9 (+15.8%) absolute points respectively, and boosts the success rate by 26.6 points (+161%) over similar plain web agents with its observation and action space alignment. We achieve this without using in-context examples, new agent roles, online feedback or search strategies. AgentOccam's simple design highlights LLMs' impressive zero-shot performance on web tasks, and underlines the critical role of carefully tuning observation and action spaces for LLM-based agents.

Natural Language Processing (NLP) is a vital computational method for addressing language processing, analysis, and generation. NLP tasks form the core of many daily applications, from automatic text correction to speech recognition. While significant research has focused on NLP tasks for the English language, less attention has been given to Modern Standard Arabic and Dialectal Arabic. Globalization has also contributed to the rise of Code-Switching (CS), where speakers mix languages within conversations and even within individual words (intra-word CS). This is especially common in Arab countries, where people often switch between dialects or between dialects and a foreign language they master. CS between Arabic and English is frequent in Egypt, especially on social media. Consequently, a significant amount of code-switched content can be found online. Such code-switched data needs to be investigated and analyzed for several NLP tasks to tackle the challenges of this multilingual phenomenon and Arabic language challenges. No work has been done before for several integral NLP tasks on Arabic-English CS data. In this work, we focus on the Named Entity Recognition (NER) task and other tasks that help propose a solution for the NER task on CS data, e.g., Language Identification. This work addresses this gap by proposing and applying state-of-the-art techniques for Modern Standard Arabic and Arabic-English NER. We have created the first annotated CS Arabic-English corpus for the NER task. Also, we apply two enhancement techniques to improve the NER tagger on CS data using CS contextual embeddings and data augmentation techniques. All methods showed improvements in the performance of the NER taggers on CS data. Finally, we propose several intra-word language identification approaches to determine the language type of a mixed text and identify whether it is a named entity or not.

Large language models (LLMs) have recently gained much attention in building autonomous agents. However, the performance of current LLM-based web agents in long-horizon tasks is far from optimal, often yielding errors such as repeatedly buying a non-refundable flight ticket. By contrast, humans can avoid such an irreversible mistake, as we have an awareness of the potential outcomes (e.g., losing money) of our actions, also known as the "world model". Motivated by this, our study first starts with preliminary analyses, confirming the absence of world models in current LLMs (e.g., GPT-4o, Claude-3.5-Sonnet, etc.). Then, we present a World-model-augmented (WMA) web agent, which simulates the outcomes of its actions for better decision-making. To overcome the challenges in training LLMs as world models predicting next observations, such as repeated elements across observations and long HTML inputs, we propose a transition-focused observation abstraction, where the prediction objectives are free-form natural language descriptions exclusively highlighting important state differences between time steps. Experiments on WebArena and Mind2Web show that our world models improve agents' policy selection without training and demonstrate our agents' cost- and time-efficiency compared to recent tree-search-based agents.

Previous studies on two-timescale stochastic approximation (SA) mainly focused on bounding mean-squared errors under diminishing stepsize schemes. In this work, we investigate {\it constant} stpesize schemes through the lens of Markov processes, proving that the iterates of both timescales converge to a unique joint stationary distribution in Wasserstein metric. We derive explicit geometric and non-asymptotic convergence rates, as well as the variance and bias introduced by constant stepsizes in the presence of Markovian noise. Specifically, with two constant stepsizes $\alpha < \beta$, we show that the biases scale linearly with both stepsizes as $\Theta(\alpha)+\Theta(\beta)$ up to higher-order terms, while the variance of the slower iterate (resp., faster iterate) scales only with its own stepsize as $O(\alpha)$ (resp., $O(\beta)$). Unlike previous work, our results require no additional assumptions such as $\beta^2 \ll \alpha$ nor extra dependence on dimensions. These fine-grained characterizations allow tail-averaging and extrapolation techniques to reduce variance and bias, improving mean-squared error bound to $O(\beta^4 + \frac{1}{t})$ for both iterates.

Motivated by information geometry, a distance function on the space of stochastic matrices is advocated. Starting with sequences of Markov chains the Bhattacharyya angle is advocated as the natural tool for comparing both short and long term Markov chain runs. Bounds on the convergence of the distance and mixing times are derived. Guided by the desire to compare different Markov chain models, especially in the setting of healthcare processes, a new distance function on the space of stochastic matrices is presented. It is a true distance measure which has a closed form and is efficient to implement for numerical evaluation. In the case of ergodic Markov chains, it is shown that considering either the Bhattacharyya angle on Markov sequences or the new stochastic matrix distance leads to the same distance between models.