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This paper considers a scenario in city navigation: an AI agent is provided with language descriptions of the goal location with respect to some well-known landmarks; By only observing the scene around, including recognizing landmarks and road network connections, the agent has to make decisions to navigate to the goal location without instructions. This problem is very challenging, because it requires agent to establish self-position and acquire spatial representation of complex urban environment, where landmarks are often invisible. In the absence of navigation instructions, such abilities are vital for the agent to make high-quality decisions in long-range city navigation. With the emergent reasoning ability of large language models (LLMs), a tempting baseline is to prompt LLMs to "react" on each observation and make decisions accordingly. However, this baseline has very poor performance that the agent often repeatedly visits same locations and make short-sighted, inconsistent decisions. To address these issues, this paper introduces a novel agentic workflow featured by its abilities to perceive, reflect and plan. Specifically, we find LLaVA-7B can be fine-tuned to perceive the direction and distance of landmarks with sufficient accuracy for city navigation. Moreover, reflection is achieved through a memory mechanism, where past experiences are stored and can be retrieved with current perception for effective decision argumentation. Planning uses reflection results to produce long-term plans, which can avoid short-sighted decisions in long-range navigation. We show the designed workflow significantly improves navigation ability of the LLM agent compared with the state-of-the-art baselines., Comment: The experiment and dataset are not enough, and we need more experiments to verify our model

We study the problem of estimating a $k$-sparse signal ${\mbox{$\beta$}}_0\in{\bf R}^p$ from a set of noisy observations ${\bf y}\in{\bf R}^n$ under the model ${\bf y}={\bf X}{\mbox{$\beta$}}+{\bf w}$, where ${\bf X}\in{\bf R}^{n\times p}$ is the measurement matrix the row of which is drawn from distribution $N(0,{\mbox{$\Sigma$}})$. We consider the class of $L_q$-regularized least squares (LQLS) given by the formulation $\hat{\mbox{$\beta$}}(\lambda,q)=\text{argmin}_{{\mbox{$\beta$}}\in{\bf R}^p}\frac{1}{2}\|{\bf y}-{\bf X}{\mbox{$\beta$}}\|^2_2+\lambda\|{\mbox{$\beta$}}\|_q^q$, where $\|\cdot\|_q$ $(0\le q\le 2)$ denotes the $L_q$-norm. In the setting $p,n,k\rightarrow\infty$ with fixed $k/p=\epsilon$ and $n/p=\delta$, we derive the asymptotic risk of $\hat{\mbox{$\beta$}}(\lambda,q)$ for arbitrary covariance matrix ${\mbox{$\Sigma$}}$ which generalizes the existing results for standard Gaussian design, i.e. $X_{ij}\overset{i.i.d}{\sim}N(0,1)$. We perform a higher-order analysis for LQLS in the small-error regime in which the first dominant term can be used to determine the phase transition behavior of LQLS. Our results show that the first dominant term does not depend on the covariance structure of ${\mbox{$\Sigma$}}$ in the cases $0\le q< 1$ and $1< q\le 2$ which indicates that the correlations among predictors only affect the phase transition curve in the case $q=1$ a.k.a. LASSO. To study the influence of the covariance structure of ${\mbox{$\Sigma$}}$ on the performance of LQLS in the cases $0\le q< 1$ and $1

Large-margin classifiers are popular methods for classification. We derive the asymptotic expression for the generalization error of a family of large-margin classifiers in the limit of both sample size $n$ and dimension $p$ going to $\infty$ with fixed ratio $\alpha=n/p$. This family covers a broad range of commonly used classifiers including support vector machine, distance weighted discrimination, and penalized logistic regression. Our result can be used to establish the phase transition boundary for the separability of two classes. We assume that the data are generated from a single multivariate Gaussian distribution with arbitrary covariance structure. We explore two special choices for the covariance matrix: spiked population model and two layer neural networks with random first layer weights. The method we used for deriving the closed-form expression is from statistical physics known as the replica method. Our asymptotic results match simulations already when $n,p$ are of the order of a few hundreds. For two layer neural networks, we reproduce the recently developed `double descent' phenomenology for several classification models. We also discuss some statistical insights that can be drawn from these analysis., Comment: 31 pages, 7 figures. arXiv admin note: substantial text overlap with arXiv:1901.08057

Margin-based classifiers have been popular in both machine learning and statistics for classification problems. Since a large number of classifiers are available, one natural question is which type of classifiers should be used given a particular classification task. We answer this question by investigating the asymptotic performance of a family of large-margin classifiers under the two component mixture models in situations where the data dimension $p$ and the sample $n$ are both large. This family covers a broad range of classifiers including support vector machine, distance weighted discrimination, penalized logistic regression, and large-margin unified machine as special cases. The asymptotic results are described by a set of nonlinear equations and we observe a close match of them with Monte Carlo simulation on finite data samples. Our analytical studies shed new light on how to select the best classifier among various classification methods as well as on how to choose the optimal tuning parameters for a given method., Comment: 33 pages, 5 figures

We propose a semismooth Newton algorithm for pathwise optimization (SNAP) for the LASSO and Enet in sparse, high-dimensional linear regression. SNAP is derived from a suitable formulation of the KKT conditions based on Newton derivatives. It solves the semismooth KKT equations efficiently by actively and continuously seeking the support of the regression coefficients along the solution path with warm start. At each knot in the path, SNAP converges locally superlinearly for the Enet criterion and achieves an optimal local convergence rate for the LASSO criterion, i.e., SNAP converges in one step at the cost of two matrix-vector multiplication per iteration. Under certain regularity conditions on the design matrix and the minimum magnitude of the nonzero elements of the target regression coefficients, we show that SNAP hits a solution with the same signs as the regression coefficients and achieves a sharp estimation error bound in finite steps with high probability. The computational complexity of SNAP is shown to be the same as that of LARS and coordinate descent algorithms per iteration. Simulation studies and real data analysis support our theoretical results and demonstrate that SNAP is faster and accurate than LARS and coordinate descent algorithms.

The smoothly clipped absolute deviation (SCAD) and the minimax concave penalty (MCP) penalized regression models are two important and widely used nonconvex sparse learning tools that can handle variable selection and parameter estimation simultaneously, and thus have potential applications in various fields such as mining biological data in high-throughput biomedical studies. Theoretically, these two models enjoy the oracle property even in the high-dimensional settings, where the number of predictors $p$ may be much larger than the number of observations $n$. However, numerically, it is quite challenging to develop fast and stable algorithms due to their non-convexity and non-smoothness. In this paper we develop a fast algorithm for SCAD and MCP penalized learning problems. First, we show that the global minimizers of both models are roots of the nonsmooth equations. Then, a semi-smooth Newton (SSN) algorithm is employed to solve the equations. We prove that the SSN algorithm converges locally and superlinearly to the Karush-Kuhn-Tucker (KKT) points. Computational complexity analysis shows that the cost of the SSN algorithm per iteration is $O(np)$. Combined with the warm-start technique, the SSN algorithm can be very efficient and accurate. Simulation studies and a real data example suggest that our SSN algorithm, with comparable solution accuracy with the coordinate descent (CD) and the difference of convex (DC) proximal Newton algorithms, is more computationally efficient., Comment: 4th revision submitted to IEEE Transactions on Neural Networks and Learning Systems