In this task, you are given the abstract of a research paper. Your task is to generate a summary of this abstract. Your summary should not be very short, but it's better if it's not more than 30 words.

Q: We compare the model-free reinforcement learning with the model-based approaches through the lens of the expressive power of neural networks for policies, $Q$-functions, and dynamics.   We show, theoretically and empirically, that even for one-dimensional continuous state space, there are many MDPs whose optimal $Q$-functions and policies are much more complex than the dynamics. We hypothesize many real-world MDPs also have a similar property. For these MDPs, model-based planning is a favorable algorithm, because the resulting policies can approximate the optimal policy significantly better than a neural network parameterization can, and model-free or model-based policy optimization rely on policy parameterization. Motivated by the theory, we apply a simple multi-step model-based bootstrapping planner (BOOTS) to bootstrap a weak $Q$-function into a stronger policy. Empirical results show that applying BOOTS on top of model-based or model-free policy optimization algorithms at the test time improves the performance on MuJoCo benchmark tasks.

A: We compare deep model-based and model-free RL algorithms by studying the approximability of $Q$-functions, policies, and dynamics by neural networks. 
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Q: Developing agents that can learn to follow natural language instructions has been an emerging research direction. While being accessible and flexible, natural language instructions can sometimes be ambiguous even to humans. To address this, we propose to utilize programs, structured in a formal language, as a precise and expressive way to specify tasks. We then devise a modular framework that learns to perform a task specified by a program – as different circumstances give rise to diverse ways to accomplish the task, our framework can perceive which circumstance it is currently under, and instruct a multitask policy accordingly to fulfill each subtask of the overall task. Experimental results on a 2D Minecraft environment not only demonstrate that the proposed framework learns to reliably accomplish program instructions and achieves zero-shot generalization to more complex instructions but also verify the efficiency of the proposed modulation mechanism for learning the multitask policy. We also conduct an analysis comparing various models which learn from programs and natural language instructions in an end-to-end fashion.

A: We propose a modular framework that can accomplish tasks specified by programs and achieve zero-shot generalization to more complex tasks.
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Q: Interpolation of data in deep neural networks has become a subject of significant research interest.   We prove that over-parameterized single layer fully connected autoencoders do not merely interpolate, but rather, memorize training data: they produce outputs in (a non-linear version of) the span of the training examples. In contrast to fully connected autoencoders, we prove that depth is necessary for memorization in convolutional autoencoders.   Moreover, we observe that adding nonlinearity to deep convolutional autoencoders results in a stronger form of memorization: instead of outputting points in the span of the training images, deep convolutional autoencoders tend to output individual training images.   Since convolutional autoencoder components are building blocks of deep convolutional networks, we envision that our findings will shed light on the important question of the inductive bias in over-parameterized deep networks.


A:
 We identify memorization as the inductive bias of interpolation in overparameterized fully connected and convolutional auto-encoders. 
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