instruction:
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.
question:
Value iteration networks are an approximation of the value iteration (VI) algorithm implemented with convolutional neural networks to make VI fully differentiable. In this work, we study these networks in the context of robot motion planning, with a focus on applications to planetary rovers. The key challenging task in learning-based motion planning is to learn a transformation from terrain observations to a suitable navigation reward function. In order to deal with complex terrain observations and policy learning, we propose a value iteration recurrence, referred to as the soft value iteration network (SVIN). SVIN is designed to produce more effective training gradients through the value iteration network. It relies on a soft policy model, where the policy is represented with a probability distribution over all possible actions, rather than a deterministic policy that returns only the best action. We demonstrate the effectiveness of the proposed method in robot motion planning scenarios. In particular, we study the application of SVIN to very challenging problems in planetary rover navigation and present early training results on data gathered by the  Curiosity rover that is currently operating on Mars.
answer:
We propose an improvement to value iteration networks, with applications to planetary rover path planning.


question:
Audio signals are sampled at high temporal resolutions, and learning to synthesize audio requires capturing structure across a range of timescales. Generative adversarial networks (GANs) have seen wide success at generating images that are both locally and globally coherent, but they have seen little application to audio generation. In this paper we introduce WaveGAN, a first attempt at applying GANs to unsupervised synthesis of raw-waveform audio. WaveGAN is capable of synthesizing one second slices of audio waveforms with global coherence, suitable for sound effect generation. Our experiments demonstrate that—without labels—WaveGAN learns to produce intelligible words when trained on a small-vocabulary speech dataset, and can also synthesize audio from other domains such as drums, bird vocalizations, and piano. We compare WaveGAN to a method which applies GANs designed for image generation on image-like audio feature representations, finding both approaches to be promising.
answer:
Learning to synthesize raw waveform audio with GANs


question:
In this paper we propose a Deep Autoencoder Mixture Clustering (DAMIC) algorithm. It is based on a mixture of deep autoencoders where each cluster is represented by an autoencoder. A clustering network transforms the data into another space and then selects one of the clusters. Next, the autoencoder associated with this cluster is used to reconstruct the data-point. The clustering algorithm jointly learns the nonlinear data representation and the set of autoencoders. The optimal clustering is found by minimizing the reconstruction loss of the mixture of autoencoder network. Unlike other deep clustering algorithms, no regularization term is needed to avoid data collapsing to a single point. Our experimental evaluations on image and text corpora show significant improvement over state-of-the-art methods.
answer:

We propose a deep clustering method where instead of a centroid each cluster is represented by an autoencoder