Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Zero-shot generalization using cascaded system-representations   Deep reinforcement learning has been applied to solve a variety of control
problems in isolation. However, the learned latent representations cannot be
optimally reused for other analogous tasks and/or control systems without
additional training or tuning. In this regard, we propose a novel framework
that can be used to learn a single control policy for a whole class of
analogous control systems. The framework is abbreviated as CASNET and it
leverages the similarities in the designs of analogous control-systems to learn
general-purpose abstract system-representations. The framework uses a cascade
of recurrent neural networks-based encoders to create these representations
which are then fed to a conventional policy network as input. A similar cascade
of decoders decodes the output of the policy network to generate
system-specific output. We illustrate the effectiveness of this framework on
arguably the most significant use-case of DRL: Robotics. In this paper, we use
CASNET to learn generalizable control policies for two separate classes of
robots: planer-manipulators and crawling robots, using 15+ and 55+
morphologically analogous simulated robots respectively. These robot models
encompass the most common design variations used in the real world. Our
empirical results using state of the art on and off policy learning algorithms
show that on average, CASNET agent achieves zero shot optimal performance
(performance equivalent to expert agents trained for individual robot models)
on unseen robot models. These results illustrate that the performance of the
learned policy is bound the learning algorithm rather than the framework
itself. The proposed framework serves a major step towards universal
controllers.

28
The categories of this paper are: alg-geom
7
The categories of this paper are: hep-th
33
The categories of this paper are: plasm-ph
25
The categories of this paper are: patt-sol
32
The categories of this paper are: atom-ph
36
The categories of this paper are: cmp-lg
19
The categories of this paper are: eess
22
The categories of this paper are: chao-dyn
34
The categories of this paper are: chem-ph
3
The categories of this paper are: physics
14
The categories of this paper are: math-ph
29
The categories of this paper are: funct-an
4
The categories of this paper are: cond-mat
35
The categories of this paper are: mtrl-th
13
The categories of this paper are: quant-ph
27
The categories of this paper are: comp-gas