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.
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Question: Common activation functions used in neural networks can yield to training difficulties due to the saturation behavior of the activation function, which may hide dependencies which are not visible to first order (using only gradients). Gating mechanisms that use softly saturating activation functions to emulate the discrete switching of digital logic circuits are good examples of this. We propose to exploit the injection of appropriate noise so that some gradients may sometimes flow, even if the noiseless application of the activation function would yield zero gradient. Large noise will dominate the noise-free gradient and allow stochastic gradient descent to be more exploratory. By adding noise only to the problematic parts of the activation function we allow the optimization procedure to explore the boundary between the degenerate (saturating) and the well-behaved parts of the activation function. We also establish connections to simulated annealing, when the amount of noise is annealed down, making it easier to optimize hard objective functions. We find experimentally that replacing such saturating activation functions by by noisy variants helps training in many contexts, yielding state-of-the-art results on several datasets, especially when training seems to be the most difficult, e.g., when curriculum learning is necessary to obtain good results.

Answer: Noisy Activation Functions

Question: The problem of sparse rewards is one of the hardest challenges in contemporary reinforcement learning. Hierarchical reinforcement learning (HRL) tackles this problem by using a set of temporally-extended actions, or options, each of which has its own subgoal. These subgoals are normally handcrafted for specific tasks. Here, though, we introduce a generic class of subgoals with broad applicability in the visual domain. Underlying our approach (in common with work using "auxiliary tasks") is the hypothesis that the ability to control aspects of the environment is an inherently useful skill to have. We incorporate such subgoals in an end-to-end hierarchical reinforcement learning system and test two variants of our algorithm on a number of games from the Atari suite. We highlight the advantage of our approach in one of the hardest games Montezuma's revenge for which the ability to handle sparse rewards is key. Our agent learns several times faster than the current state-of-the-art HRL agent in this game, reaching a similar level of performance.

Answer: Feature Control as Intrinsic Motivation for Hierarchical Reinforcement Learning

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