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: 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: Neural networks offer high-accuracy solutions to a range of problems, but are computationally costly to run in production systems. We propose a technique called Deep Learning Approximation to take an already-trained neural network model and build a faster (and almost equally accurate) network by manipulating the network structure and coefficients without requiring re-training or access to the training data. Speedup is achieved by applying a sequential series of independent optimizations that reduce the floating-point operations (FLOPs) required to perform a forward pass. An optimal lossy approximation is chosen for each layer by weighing the relative accuracy loss and FLOP reduction. On PASCAL VOC 2007 with the YOLO network, we show an end-to-end 2x speedup in a network forward pass with a $5$\% drop in mAP that can be re-gained by finetuning, enabling this network (and others like it) to be deployed in compute-constrained systems.

A: Decompose weights to use fewer FLOPs with SVD
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Q: High-dimensional sparse reward tasks present major challenges for reinforcement learning agents.   In this work we use imitation learning to address two of these challenges:  how to learn a useful representation of the world e.g.  from pixels, and how to explore efficiently given the rarity of a reward signal? We show that adversarial imitation can work well even in this high dimensional observation space. Surprisingly the adversary itself, acting as the learned reward function, can be tiny, comprising as few as 128 parameters, and can be easily trained using the most basic GAN formulation. Our approach removes limitations present in most contemporary imitation approaches: requiring no demonstrator actions (only video), no special initial conditions or warm starts, and no explicit tracking of any single demo. The proposed agent can solve a challenging robot manipulation task of block stacking from only video demonstrations and sparse reward, in which the non-imitating agents fail to learn completely.   Furthermore, our agent learns much faster than competing approaches that depend on hand-crafted, staged dense reward functions, and also better compared to standard GAIL baselines. Finally, we develop a new adversarial goal recognizer that in some cases allows the agent to learn stacking without any task reward, purely from imitation.

A:
Imitation from pixels, with sparse or no reward, using off-policy RL and a tiny adversarially-learned reward function.
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