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:
Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are difficult to solve using traditional control theory or hand-engineered approaches. One example of such a task is to grasp an object and precisely stack it on another. Solving this difficult and practically relevant problem in the real world is an important long-term goal for the field of robotics. Here we take a step towards this goal by examining the problem in simulation and providing models and techniques aimed at solving it. We introduce two extensions to the Deep Deterministic Policy Gradient algorithm (DDPG), a model-free Q-learning based method, which make it significantly more data-efficient and scalable. Our results show that by making extensive use of off-policy data and replay, it is possible to find control policies that robustly grasp objects and stack them. Further, our results hint that it may soon be feasible to train successful stacking policies by collecting interactions on real robots.
answer:
Data-efficient Deep Reinforcement Learning for Dexterous Manipulation


question:
Policies for complex visual tasks have been successfully learned with deep reinforcement learning, using an approach called deep Q-networks (DQN), but relatively large (task-specific) networks and extensive training are needed to achieve good performance. In this work, we present a novel method called policy distillation that can be used to extract the policy of a reinforcement learning agent and train a new network that performs at the expert level while being dramatically smaller and more efficient. Furthermore, the same method can be used to consolidate multiple task-specific policies into a single policy. We demonstrate these claims using the Atari domain and show that the multi-task distilled agent outperforms the single-task teachers as well as a jointly-trained DQN agent.
answer:
POLICY DISTILLATION


question:
Recently, resources and tasks were proposed to go beyond state tracking in dialogue systems. An example is the frame tracking task, which requires recording multiple frames, one for each user goal set during the dialogue. This allows a user, for instance, to compare items corresponding to different goals. This paper proposes a model which takes as input the list of frames created so far during the dialogue, the current user utterance as well as the dialogue acts, slot types, and slot values associated with this utterance. The model then outputs the frame being referenced by each triple of dialogue act, slot type, and slot value. We show that on the recently published Frames dataset, this model significantly outperforms a previously proposed rule-based baseline. In addition, we propose an extensive analysis of the frame tracking task by dividing it into sub-tasks and assessing their difficulty with respect to our model.
answer:

A Frame Tracking Model for Memory-Enhanced Dialogue Systems