Cascade Attribute Learning Network
  We propose the cascade attribute learning network (CALNet), which can learn
attributes in a control task separately and assemble them together. Our
contribution is twofold: first we propose attribute learning in reinforcement
learning (RL). Attributes used to be modeled using constraint functions or
terms in the objective function, making it hard to transfer. Attribute
learning, on the other hand, models these task properties as modules in the
policy network. We also propose using novel cascading compensative networks in
the CALNet to learn and assemble attributes. Using the CALNet, one can zero
shoot an unseen task by separately learning all its attributes, and assembling
the attribute modules. We have validated the capacity of our model on a wide
variety of control problems with attributes in time, position, velocity and
acceleration phases.
