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.

Input: Consider Input: A fundamental question in reinforcement learning is whether model-free algorithms are sample efficient. Recently,  Jin et al. (2018) proposed a Q-learning algorithm with UCB exploration policy, and proved it has nearly optimal regret bound for finite-horizon episodic MDP. In this paper, we adapt Q-learning with UCB-exploration bonus to infinite-horizon MDP with discounted rewards \emph{without} accessing a generative model. We show that the \textit{sample complexity of exploration} of our algorithm is bounded by $\tilde{O}({\frac{SA}{\epsilon^2(1-\gamma)^7}})$. This improves the previously best known result of $\tilde{O}({\frac{SA}{\epsilon^4(1-\gamma)^8}})$ in this setting achieved by delayed Q-learning (Strehlet al., 2006),, and matches the lower bound in terms of $\epsilon$ as well as $S$ and $A$ up to logarithmic factors.

Output: We adapt Q-learning with UCB-exploration bonus to infinite-horizon MDP with discounted rewards without accessing a generative model, and improves the previously best known result.


Input: Consider Input: Value iteration networks are an approximation of the value iteration (VI) algorithm implemented with convolutional neural networks to make VI fully differentiable. In this work, we study these networks in the context of robot motion planning, with a focus on applications to planetary rovers. The key challenging task in learning-based motion planning is to learn a transformation from terrain observations to a suitable navigation reward function. In order to deal with complex terrain observations and policy learning, we propose a value iteration recurrence, referred to as the soft value iteration network (SVIN). SVIN is designed to produce more effective training gradients through the value iteration network. It relies on a soft policy model, where the policy is represented with a probability distribution over all possible actions, rather than a deterministic policy that returns only the best action. We demonstrate the effectiveness of the proposed method in robot motion planning scenarios. In particular, we study the application of SVIN to very challenging problems in planetary rover navigation and present early training results on data gathered by the  Curiosity rover that is currently operating on Mars.

Output: We propose an improvement to value iteration networks, with applications to planetary rover path planning.


Input: Consider Input: We  propose an  interactive  classification approach  for natural  language  queries. Instead of classifying given the natural language query only, we ask the user for additional information using a sequence of binary and multiple-choice questions. At each turn, we use a policy controller to decide if to present a question or pro-vide the user the final answer, and select the best question to ask by maximizing the system information gain. Our formulation enables bootstrapping the system without any interaction data, instead relying on non-interactive crowdsourcing an-notation tasks. Our evaluation shows the interaction helps the system increase its accuracy and handle ambiguous queries, while our approach effectively balances the number of questions and the final accuracy.


Output: We propose an interactive approach for classifying natural language queries by asking users for additional information using information gain and a reinforcement learning policy controller.


