instruction:
In this task, you are given a part of an article. Your task is to generate headline (title) for this text. Preferred headlines are under fifteen words.
question:
We study a novel architecture and training procedure for locomotion tasks. A high-frequency, low-level “spinal” network with access to proprioceptive sensors learns sensorimotor primitives by training on simple tasks. This pre-trained module is fixed and connected to a low-frequency, high-level “cortical” network, with access to all sensors, which drives behavior by modulating the inputs to the spinal network. Where a monolithic end-to-end architecture fails completely, learning with a pre-trained spinal module succeeds at multiple high-level tasks, and enables the effective exploration required to learn from sparse rewards. We test our proposed architecture on three simulated bodies: a 16-dimensional swimming snake, a 20-dimensional quadruped, and a 54-dimensional humanoid (see attached video).
answer:
Learning and Transfer of Modulated Locomotor Controllers


question:
We present a new system S for handling uncertainty in a quantified modal logic (first-order modal logic). The system is based on both probability theory and proof theory. The system is derived from Chisholm’s epistemology. We concretize Chisholm’s system by grounding his undefined and primitive (i.e. foundational) concept of reasonableness in probability and proof theory. S can be useful in systems that have to interact with humans and provide justifications for their uncertainty. As a demonstration of the system, we apply the system to provide a solution to the lottery paradox. Another advantage of the system is that it can be used to provide uncertainty values for counterfactual statements. Counterfactuals are statements that an agent knows for sure are false. Among other cases, counterfactuals are useful when systems have to explain their actions to users (If I had not done α, then φ would have happened). Uncertainties for counterfactuals fall out naturally from our system. Efficient reasoning in just simple first-order logic is a hard problem. Resolution-based first-order reasoning systems have made significant progress over the last several decades in building systems that have solved non-trivial tasks (even unsolved conjectures in mathematics). We present a sketch of a novel algorithm for reasoning that extends firstorder resolution. Finally, while there have been many systems of uncertainty for propositional logics, first-order logics and propositional modal logics, there has been very little work in building systems of uncertainty for first-order modal logics. The work described below is in progress; and once finished will address this lack.
answer:
Strength Factors: An Uncertainty System for a Quantified Modal Logic


question:
In this paper we initiate the study of whether or not sparse estimation tasks can be performed efficiently in high dimensions, in the robust setting where an ε-fraction of samples are corrupted adversarially. We study the natural robust version of two classical sparse estimation problems, namely, sparse mean estimation and sparse PCA in the spiked covariance model. For both of these problems, we provide the first efficient algorithms that provide non-trivial error guarantees in the presence of noise, using only a number of samples which is similar to the number required for these problems without noise. In particular, our sample complexities are sublinear in the ambient dimension d. Our work also suggests evidence for new computational-vs-statistical gaps for these problems (similar to those for sparse PCA without noise) which only arise in the presence of noise.
answer:

Robust Sparse Estimation Tasks in High Dimensions