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]: We propose a "plan online and learn offline" framework for the setting where an agent, with an internal model, needs to continually act and learn in the world. Our work builds on the synergistic relationship between local model-based control, global value function learning, and exploration. We study how local trajectory optimization can cope with approximation errors in the value function, and can stabilize and accelerate value function learning. Conversely, we also study how approximate value functions can help reduce the planning horizon and allow for better policies beyond local solutions. Finally, we also demonstrate how trajectory optimization can be used to perform temporally coordinated exploration in conjunction with estimating uncertainty in value function approximation. This exploration is critical for fast and stable learning of the value function. Combining these components enable solutions to complex control tasks, like humanoid locomotion and dexterous in-hand manipulation, in the equivalent of a few minutes of experience in the real world.
[A]: We propose a framework that incorporates planning for efficient exploration and learning in complex environments.

[Q]: Interpreting generative adversarial network (GAN) training as approximate divergence minimization has been theoretically insightful, has spurred discussion, and has lead to theoretically and practically interesting extensions such as f-GANs and Wasserstein GANs. For both classic GANs and f-GANs, there is an original variant of training and a "non-saturating" variant which uses an alternative form of generator update. The original variant is theoretically easier to study, but the alternative variant frequently performs better and is recommended for use in practice. The alternative generator update is often regarded as a simple modification to deal with optimization issues, and it appears to be a common misconception that the two variants minimize the same divergence. In this short note we derive the divergences approximately minimized by the original and alternative variants of GAN and f-GAN training. This highlights important differences between the two variants. For example, we show that the alternative variant of KL-GAN training actually minimizes the reverse KL divergence, and that the alternative variant of conventional GAN training minimizes a "softened" version of the reverse KL. We hope these results may help to clarify some of the theoretical discussion surrounding the divergence minimization view of GAN training.
[A]: Typical GAN training doesn't optimize Jensen-Shannon, but something like a reverse KL divergence.

[Q]: In this study we focus on first-order meta-learning algorithms that aim to learn a parameter initialization of a network which can quickly adapt to new concepts, given a few examples. We investigate two approaches to enhance generalization and speed of learning of such algorithms, particularly expanding on the Reptile (Nichol et al., 2018) algorithm. We introduce a novel regularization technique called meta-step gradient pruning and also investigate the effects of increasing the depth of network architectures in first-order meta-learning. We present an empirical evaluation of both approaches, where we match benchmark few-shot image classification results with 10 times fewer iterations using Mini-ImageNet dataset and with the use of deeper networks, we attain accuracies that surpass the current benchmarks of few-shot image classification using Omniglot dataset.
[A]:
The study introduces two approaches to enhance generalization of first-order meta-learning and presents empirical evaluation on few-shot image classification.