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.

In visual planning (VP), an agent learns to plan goal-directed behavior from observations of a dynamical system obtained offline, e.g., images obtained from self-supervised robot interaction. VP algorithms essentially combine data-driven perception and planning, and are important for robotic manipulation and navigation domains, among others. A recent and promising approach to VP is the semi-parametric topological memory (SPTM) method, where image samples are treated as nodes in a graph, and the connectivity in the graph is learned using deep image classification. Thus, the learned graph represents the topological connectivity of the data, and planning can be performed using conventional graph search methods. However, training SPTM necessitates a suitable loss function for the connectivity classifier, which requires non-trivial manual tuning. More importantly, SPTM is constricted in its ability to generalize to changes in the domain, as its graph is constructed from direct observations and thus requires collecting new samples for planning. In this paper, we propose Hallucinative Topological Memory (HTM), which overcomes these shortcomings. In HTM, instead of training a discriminative classifier we train an energy function using contrastive predictive coding. In addition, we learn a conditional VAE model that generates samples given a context image of the domain, and use these hallucinated samples for building the connectivity graph, allowing for zero-shot generalization to domain changes. In simulated domains, HTM outperforms conventional SPTM and visual foresight methods in terms of both plan quality and success in long-horizon planning.
We propose Hallucinative Topological Memory (HTM), a visual planning algorithm that can perform zero-shot long horizon planning in new environments. 

Recent DNN pruning algorithms have succeeded in reducing the number of parameters in fully connected layers often with little or no drop in classification accuracy. However most of the existing pruning schemes either have to be applied during training or require a costly retraining procedure after pruning to regain classification accuracy. In this paper we propose a cheap pruning algorithm based on difference of convex (DC) optimisation. We also provide theoretical analysis for the growth in the Generalisation Error (GE) of the new pruned network. Our method can be used with any convex regulariser and allows for a controlled degradation in classification accuracy while being orders of magnitude faster than competing approaches. Experiments on common feedforward neural networks show that for sparsity levels above 90% our method achieves 10% higher classification accuracy compared to Hard Thresholding.
A fast pruning algorithm for fully connected DNN layers with theoretical analysis of degradation in Generalisation Error.

The power of neural networks lies in their ability to generalize to unseen data, yet the underlying reasons for this phenomenon remain elusive. Numerous rigorous attempts have been made to explain generalization, but available bounds are still quite loose, and analysis does not always lead to true understanding. The goal of this work is to make generalization more intuitive. Using visualization methods, we discuss the mystery of generalization, the geometry of loss landscapes, and how the curse (or, rather, the blessing) of dimensionality causes optimizers to settle into minima that generalize well.

An intuitive empirical and visual exploration of the generalization properties of deep neural networks.