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:
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.
answer:
We propose a framework that incorporates planning for efficient exploration and learning in complex environments.

question:
Deep neural networks have led to a series of breakthroughs, dramatically improving the state-of-the-art in many domains. The techniques driving these advances, however, lack a formal method to account for model uncertainty. While the Bayesian approach to learning provides a solid theoretical framework to handle uncertainty, inference in Bayesian-inspired deep neural networks is difficult. In this paper, we provide a practical approach to Bayesian learning that relies on a regularization technique found in nearly every modern network, batch normalization. We show that training a deep network using batch normalization is equivalent to approximate inference in Bayesian models, and we demonstrate how this finding allows us to make useful estimates of the model uncertainty. Using our approach, it is possible to make meaningful uncertainty estimates using conventional architectures without modifying the network or the training procedure. Our approach is thoroughly validated in a series of empirical experiments on different tasks and using various measures, showing it to outperform baselines on a majority of datasets with strong statistical significance.
answer:
We show that training a deep network using batch normalization is equivalent to approximate inference in Bayesian models, and we demonstrate how this finding allows us to make useful estimates of the model uncertainty in conventional networks.

question:
Making deep convolutional neural networks more accurate typically comes at the cost of increased computational and memory resources. In this paper, we reduce this cost by exploiting the fact that the importance of features computed by convolutional layers is highly input-dependent, and propose feature boosting and suppression (FBS), a new method to predictively amplify salient convolutional channels and skip unimportant ones at run-time. FBS introduces small auxiliary connections to existing convolutional layers. In contrast to channel pruning methods which permanently remove channels, it preserves the full network structures and accelerates convolution by dynamically skipping unimportant input and output channels. FBS-augmented networks are trained with conventional stochastic gradient descent, making it readily available for many state-of-the-art CNNs. We compare FBS to a range of existing channel pruning and dynamic execution schemes and demonstrate large improvements on ImageNet classification. Experiments show that FBS can respectively provide 5 and 2 savings in compute on VGG-16 and ResNet-18, both with less than 0.6% top-5 accuracy loss.
answer:
We make convolutional layers run faster by dynamically boosting and suppressing channels in feature computation.