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.

This paper presents preliminary ideas of our work for auto- mated learning of Hierarchical Goal Networks in nondeter- ministic domains. We are currently implementing the ideas expressed in this paper.
Learning HGNs, ND domains

Deep networks often perform well on the data distribution on which they are trained, yet give incorrect (and often very confident) answers when evaluated on points from off of the training distribution. This is exemplified by the adversarial examples phenomenon but can also be seen in terms of model generalization and domain shift.   Ideally, a model would assign lower confidence to points unlike those from the training distribution.   We propose a regularizer which addresses this issue by training with interpolated hidden states and encouraging the classifier to be less confident at these points.   Because the hidden states are learned, this has an important effect of encouraging the hidden states for a class to be concentrated in such a way so that interpolations within the same class or between two different classes do not intersect with the real data points from other classes.   This has a major advantage in that it avoids the underfitting which can result from interpolating in the input space.   We prove that the exact condition for this problem of underfitting to be avoided by Manifold Mixup is that the dimensionality of the hidden states exceeds the number of classes, which is often the case in practice.   Additionally, this concentration can be seen as making the features in earlier layers more discriminative.   We show that despite requiring no significant additional computation, Manifold Mixup achieves large improvements over strong baselines in supervised learning, robustness to single-step adversarial attacks, semi-supervised learning, and Negative Log-Likelihood on held out samples.
A method for learning better representations, that acts as a regularizer and despite its no significant additional computation cost , achieves improvements over strong baselines on Supervised and Semi-supervised Learning tasks.

Training neural networks to be certifiably robust is critical to ensure their safety against adversarial attacks. However, it is currently very difficult to train a neural network that is both accurate and certifiably robust. In this work we take a step towards addressing this challenge. We prove that for every continuous function $f$, there exists a network $n$ such that:
 (i) $n$ approximates $f$ arbitrarily close, and (ii) simple interval bound propagation of a region $B$ through $n$ yields a result that is arbitrarily close to the optimal output of $f$ on $B$. Our result can be seen as a Universal Approximation Theorem for interval-certified ReLU networks. To the best of our knowledge, this is the first work to prove the existence of accurate, interval-certified networks.

We prove that for a large class of functions f there exists an interval certified robust network approximating f up to arbitrary precision.