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.

Ex Input:
The physical design of a robot and the policy that controls its motion are inherently coupled. However, existing approaches largely ignore this coupling, instead choosing to alternate between separate design and control phases, which requires expert intuition throughout and risks convergence to suboptimal designs. In this work, we propose a method that jointly optimizes over the physical design of a robot and the corresponding control policy in a model-free fashion, without any need for expert supervision. Given an arbitrary robot morphology, our method maintains a distribution over the design parameters and uses reinforcement learning to train a neural network controller. Throughout training, we refine the robot distribution to maximize the expected reward. This results in an assignment to the robot parameters and neural network policy that are jointly optimal. We evaluate our approach in the context of legged locomotion, and demonstrate that it discovers novel robot designs and walking gaits for several different morphologies, achieving performance comparable to or better than that of hand-crafted designs.

Ex Output:
Use deep reinforcement learning to design the physical attributes of a robot jointly with a control policy.


Ex Input:
Conventional deep reinforcement learning typically determines an appropriate primitive action at each timestep, which requires enormous amount of time and effort for learning an effective policy, especially in large and complex environments. To deal with the issue fundamentally, we incorporate macro actions, defined as sequences of primitive actions, into the primitive action space to form an augmented action space. The problem lies in how to find an appropriate macro action to augment the primitive action space.   The agent using a proper augmented action space is able to jump to a farther state and thus speed up the exploration process as well as facilitate the learning procedure. In previous researches, macro actions are developed by mining the most frequently used action sequences or repeating previous actions. However, the most frequently used action sequences are extracted from a past policy, which may only reinforce the original behavior of that policy. On the other hand, repeating actions may limit the diversity of behaviors of the agent. Instead, we propose to construct macro actions by a genetic algorithm, which eliminates the dependency of the macro action derivation procedure from the past policies of the agent.   Our approach appends a macro action to the primitive action space once at a time and evaluates whether the augmented action space leads to promising performance or not.    We perform extensive experiments and show that the constructed macro actions are able to speed up the learning process for a variety of deep reinforcement learning methods. Our experimental results also demonstrate that the macro actions suggested by our approach are transferable among deep reinforcement learning methods and similar environments. We further provide a comprehensive set of ablation analysis to validate our methodology.

Ex Output:
We propose to construct macro actions by a genetic algorithm, which eliminates the dependency of the macro action derivation procedure from the past policies of the agent.


Ex Input:
Deep neural networks can learn meaningful representations of data. However, these representations are hard to interpret. For example, visualizing a latent layer is generally only possible for at most three dimensions. Neural networks are able to learn and benefit from much higher dimensional representations but these are not visually interpretable because nodes have arbitrary ordering within a layer. Here, we utilize the ability of the human observer to identify patterns in structured representations to visualize higher dimensions. To do so, we propose a class of regularizations we call \textit{Graph Spectral Regularizations} that impose graph-structure on latent layers. This is achieved by treating activations as signals on a predefined graph and constraining those activations using graph filters, such as low pass and wavelet-like filters. This framework allows for any kind of graph as well as filter to achieve a wide range of structured regularizations depending on the inference needs of the data. First, we show a synthetic example that the graph-structured layer can reveal topological features of the data. Next, we show that a smoothing regularization can impose semantically consistent ordering of nodes when applied to capsule nets. Further, we show that the graph-structured layer, using wavelet-like spatially localized filters, can form localized receptive fields for improved image and biomedical data interpretation. In other words, the mapping between latent layer, neurons and the output space becomes clear due to the localization of the activations. Finally, we show that when structured as a grid, the representations create coherent images that allow for image-processing techniques such as convolutions.

Ex Output:

Imposing graph structure on neural network layers for improved visual interpretability.


