Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Novel Model for Arbitration between Planning and Habitual Control
  Systems   It is well established that humans decision making and instrumental control
uses multiple systems, some which use habitual action selection and some which
require deliberate planning. Deliberate planning systems use predictions of
action-outcomes using an internal model of the agent's environment, while
habitual action selection systems learn to automate by repeating previously
rewarded actions. Habitual control is computationally efficient but may be
inflexible in changing environments. Conversely, deliberate planning may be
computationally expensive, but flexible in dynamic environments. This paper
proposes a general architecture comprising both control paradigms by
introducing an arbitrator that controls which subsystem is used at any time.
This system is implemented for a target-reaching task with a simulated
two-joint robotic arm that comprises a supervised internal model and deep
reinforcement learning. Through permutation of target-reaching conditions, we
demonstrate that the proposed is capable of rapidly learning kinematics of the
system without a priori knowledge, and is robust to (A) changing environmental
reward and kinematics, and (B) occluded vision. The arbitrator model is
compared to exclusive deliberate planning with the internal model and exclusive
habitual control instances of the model. The results show how such a model can
harness the benefits of both systems, using fast decisions in reliable
circumstances while optimizing performance in changing environments. In
addition, the proposed model learns very fast. Finally, the system which
includes internal models is able to reach the target under the visual
occlusion, while the pure habitual system is unable to operate sufficiently
under such conditions.

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The categories of this paper are: hep-ph
28
The categories of this paper are: alg-geom
7
The categories of this paper are: hep-th
22
The categories of this paper are: chao-dyn
27
The categories of this paper are: comp-gas
3
The categories of this paper are: physics
5
The categories of this paper are: gr-qc
37
The categories of this paper are: supr-con
34
The categories of this paper are: chem-ph
10
The categories of this paper are: q-bio
36
The categories of this paper are: cmp-lg
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
14
The categories of this paper are: math-ph
8
The categories of this paper are: hep-ex
2
The categories of this paper are: math