Above are papers related to the following paper: [Paper_ID] Paper #1106547. 	[Title] Learning to Race: Experiments with a Simulated Race Car [Abstract] We have implemented a reinforcement learning architecture as the reactive component of a two layer control system for a simulated race car. We have found that separating the layers has expedited gradually improving competition and mult-agent interaction. We ran experiments to test the tuning, decomposition and coordination of the low level behaviors. We then extended our control system to allow passing of other cars and tested its ability to avoid collisions. The best design used reinforcement learning with separate networks for each behavior, coarse coded input and a simple rule based coordination mechanism. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6151. 	[Title] Strategy Learning with Multilayer Connectionist Representations 1 [Abstract] Results are presented that demonstrate the learning and fine-tuning of search strategies using connectionist mechanisms. Previous studies of strategy learning within the symbolic, production-rule formalism have not addressed fine-tuning behavior. Here a two-layer connectionist system is presented that develops its search from a weak to a task-specific strategy and fine-tunes its performance. The system is applied to a simulated, real-time, balance-control task. We compare the performance of one-layer and two-layer networks, showing that the ability of the two-layer network to discover new features and thus enhance the original representation is critical to solving the balancing task. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6152. 	[Title] Reinforcement Learning with Modular Neural Networks for Control [Abstract] Reinforcement learning methods can be applied to control problems with the objective of optimizing the value of a function over time. They have been used to train single neural networks that learn solutions to whole tasks. Jacobs and Jordan [5] have shown that a set of expert networks combined via a gating network can more quickly learn tasks that can be decomposed. Even the decomposition can be learned. Inspired by Boyan's work of modular neural networks for learning with temporal-difference methods [4], we modify the reinforcement learning algorithm called Q-Learning to train a modular neural network to solve a control problem. The resulting algorithm is demonstrated on the classical pole-balancing problem. The advantage of such a method is that it makes it possible to deal with complex dynamic control problem effectively by using task decomposition and competitive learning. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6155. 	[Title] On the Computational Economics of Reinforcement Learning [Abstract] Following terminology used in adaptive control, we distinguish between indirect learning methods, which learn explicit models of the dynamic structure of the system to be controlled, and direct learning methods, which do not. We compare an existing indirect method, which uses a conventional dynamic programming algorithm, with a closely related direct reinforcement learning method by applying both methods to an infinite horizon Markov decision problem with unknown state-transition probabilities. The simulations show that although the direct method requires much less space and dramatically less computation per control action, its learning ability in this task is superior to, or compares favorably with, that of the more complex indirect method. Although these results do not address how the methods' performances compare as problems become more difficult, they suggest that given a fixed amount of computational power available per control action, it may be better to use a direct reinforcement learning method augmented with indirect techniques than to devote all available resources to a computation-ally costly indirect method. Comprehensive answers to the questions raised by this study depend on many factors making up the eco nomic context of the computation. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1111052. 	[Title] Robust Value Function Approximation by Working Backwards Computing an accurate value function is the key [Abstract] In this paper, we examine the intuition that TD() is meant to operate by approximating asynchronous value iteration. We note that on the important class of discrete acyclic stochastic tasks, value iteration is inefficient compared with the DAG-SP algorithm, which essentially performs only one sweep instead of many by working backwards from the goal. The question we address in this paper is whether there is an analogous algorithm that can be used in large stochastic state spaces requiring function approximation. We present such an algorithm, analyze it, and give comparative results to TD on several domains. the state). Using VI to solve MDPs belonging to either of these special classes can be quite inefficient, since VI performs backups over the entire space, whereas the only backups useful for improving V fl are those on the "frontier" between already-correct and not-yet-correct V fl values. In fact, there are classical algorithms for both problem classes which compute V fl more efficiently by explicitly working backwards: for the deterministic class, Dijkstra's shortest-path algorithm; and for the acyclic class, Directed-Acyclic-Graph-Shortest-Paths (DAG-SP) [6]. 1 DAG-SP first topologically sorts the MDP, producing a linear ordering of the states in which every state x precedes all states reachable from x. Then, it runs through that list in reverse, performing one backup per state. Worst-case bounds for VI, Dijkstra, and DAG-SP in deterministic domains with X states and A actions/state are 1 Although [6] presents DAG-SP only for deterministic acyclic problems, it applies straightforwardly to the Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1113614. 	[Title] NeuroDraughts: the role of representation, search, training regime and architecture in a TD draughts player [Abstract] NeuroDraughts is a draughts playing program similar in approach to NeuroGammon and NeuroChess [Tesauro, 1992, Thrun, 1995]. It uses an artificial neural network trained by the method of temporal difference learning to learn by self-play how to play the game of draughts. This paper discusses the relative contribution of board representation, search depth, training regime, architecture and run time parameters to the strength of the TDplayer produced by the system. Keywords: Temporal Difference Learning, Input representation, Search, Draughts. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #755217. 	[Title] Active Gesture Recognition using Partially Observable Markov Decision Processes [Abstract] M.I.T Media Laboratory Perceptual Computing Section Technical Report No. 367 Appeared 13th IEEE Intl. Conference on Pattern Recognition (ICPR '96), Vienna, Austria. Abstract We present a foveated gesture recognition system that guides an active camera to foveate salient features based on a reinforcement learning paradigm. Using vision routines previously implemented for an interactive environment, we determine the spatial location of salient body parts of a user and guide an active camera to obtain images of gestures or expressions. A hidden-state reinforcement learning paradigm based on the Partially Observable Markov Decision Process (POMDP) is used to implement this visual attention. The attention module selects targets to foveate based on the goal of successful recognition, and uses a new multiple-model Q-learning formulation. Given a set of target and distractor gestures, our system can learn where to foveate to maximally discriminate a particular gesture. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6163. 	[Title] Generalization in Reinforcement Learning: Safely Approximating the Value Function [Abstract] To appear in: G. Tesauro, D. S. Touretzky and T. K. Leen, eds., Advances in Neural Information Processing Systems 7, MIT Press, Cambridge MA, 1995. A straightforward approach to the curse of dimensionality in reinforcement learning and dynamic programming is to replace the lookup table with a generalizing function approximator such as a neural net. Although this has been successful in the domain of backgammon, there is no guarantee of convergence. In this paper, we show that the combination of dynamic programming and function approximation is not robust, and in even very benign cases, may produce an entirely wrong policy. We then introduce Grow-Support, a new algorithm which is safe from divergence yet can still reap the benefits of successful generalization. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1106966. 	[Title] Value Function Approximations and Job-Shop Scheduling [Abstract] We report a successful application of TD() with value function approximation to the task of job-shop scheduling. Our scheduling problems are based on the problem of scheduling payload processing steps for the NASA space shuttle program. The value function is approximated by a 2-layer feedforward network of sigmoid units. A one-step lookahead greedy algorithm using the learned evaluation function outperforms the best existing algorithm for this task, which is an iterative repair method incorporating simulated annealing. To understand the reasons for this performance improvement, this paper introduces several measurements of the learning process and discusses several hypotheses suggested by these measurements. We conclude that the use of value function approximation is not a source of difficulty for our method, and in fact, it may explain the success of the method independent of the use of value iteration. Additional experiments are required to discriminate among our hypotheses. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #35863. 	[Title] Associative Reinforcement Learning: Functions in k-DNF [Abstract] An agent that must learn to act in the world by trial and error faces the reinforcement learning problem, which is quite different from standard concept learning. Although good algorithms exist for this problem in the general case, they are often quite inefficient and do not exhibit generalization. One strategy is to find restricted classes of action policies that can be learned more efficiently. This paper pursues that strategy by developing algorithms that can efficiently learn action maps that are expressible in k-DNF. The algorithms are compared with existing methods in empirical trials and are shown to have very good performance. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #128540. 	[Title] Adapting Control Strategies for Situated Autonomous Agents [Abstract] This paper studies how to balance evolutionary design and human expertise in order to best design situated autonomous agents which can learn specific tasks. A genetic algorithm designs control circuits to learn simple behaviors, and given control strategies for simple behaviors, the genetic algorithm designs a combinational circuit that switches between these simple behaviors to perform a navigation task. Keywords: Genetic Algorithms, Computational Design, Autonomous Agents, Robotics. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6184. 	[Title] Forward models: Supervised learning with a distal teacher [Abstract] Internal models of the environment have an important role to play in adaptive systems in general and are of particular importance for the supervised learning paradigm. In this paper we demonstrate that certain classical problems associated with the notion of the "teacher" in supervised learning can be solved by judicious use of learned internal models as components of the adaptive system. In particular, we show how supervised learning algorithms can be utilized in cases in which an unknown dynamical system intervenes between actions and desired outcomes. Our approach applies to any supervised learning algorithm that is capable of learning in multi-layer networks. *This paper is a revised version of MIT Center for Cognitive Science Occasional Paper #40. We wish to thank Michael Mozer, Andrew Barto, Robert Jacobs, Eric Loeb, and James McClelland for helpful comments on the manuscript. This project was supported in part by BRSG 2 S07 RR07047-23 awarded by the Biomedical Research Support Grant Program, Division of Research Resources, National Institutes of Health, by a grant from ATR Auditory and Visual Perception Research Laboratories, by a grant from Siemens Corporation, by a grant from the Human Frontier Science Program, and by grant N00014-90-J-1942 awarded by the Office of Naval Research. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #28202. 	[Title] MultiPlayer Residual Advantage Learning With General Function Approximation [Abstract] A new algorithm, advantage learning, is presented that improves on advantage updating by requiring that a single function be learned rather than two. Furthermore, advantage learning requires only a single type of update, the learning update, while advantage updating requires two different types of updates, a learning update and a normilization update. The reinforcement learning system uses the residual form of advantage learning. An application of reinforcement learning to a Markov game is presented. The testbed has continuous states and nonlinear dynamics. The game consists of two players, a missile and a plane; the missile pursues the plane and the plane evades the missile. On each time step , each player chooses one of two possible actions; turn left or turn right, resulting in a 90 degree instantaneous change in the aircraft s heading. Reinforcement is given only when the missile hits the plane or the plane reaches an escape distance from the missile. The advantage function is stored in a single-hidden-layer sigmoidal network. Speed of learning is increased by a new algorithm , Incremental Delta-Delta (IDD), which extends Jacobs (1988) Delta-Delta for use in incremental training, and differs from Suttons Incremental Delta-Bar-Delta (1992) in that it does not require the use of a trace and is amenable for use with general function approximation systems. The advantage learning algorithm for optimal control is modified for games in order to find the minimax point, rather than the maximum. Empirical results gathered using the missile/aircraft testbed validate theory that suggests residual forms of reinforcement learning algorithms converge to a local minimum of the mean squared Bellman residual when using general function approximation systems. Also, to our knowledge, this is the first time an approximate second order method has been used with residual algorithms. Empirical results are presented comparing convergence rates with and without the use of IDD for the reinforcement learning testbed described above and for a supervised learning testbed. The results of these experiments demonstrate IDD increased the rate of convergence and resulted in an order of magnitude lower total asymptotic error than when using backpropagation alone. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #10796. 	[Title] An Improved Algorithm for Incremental Induction of Decision Trees [Abstract] Technical Report 94-07 February 7, 1994 (updated April 25, 1994) This paper will appear in Proceedings of the Eleventh International Conference on Machine Learning. Abstract This paper presents an algorithm for incremental induction of decision trees that is able to handle both numeric and symbolic variables. In order to handle numeric variables, a new tree revision operator called `slewing' is introduced. Finally, a non-incremental method is given for finding a decision tree based on a direct metric of a candidate tree. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #20526. 	[Title] Self-Improving Factory Simulation using Continuous-time Average-Reward Reinforcement Learning [Abstract] Many factory optimization problems, from inventory control to scheduling and reliability, can be formulated as continuous-time Markov decision processes. A primary goal in such problems is to find a gain-optimal policy that minimizes the long-run average cost. This paper describes a new average-reward algorithm called SMART for finding gain-optimal policies in continuous time semi-Markov decision processes. The paper presents a detailed experimental study of SMART on a large unreliable production inventory problem. SMART outperforms two well-known reliability heuristics from industrial engineering. A key feature of this study is the integration of the reinforcement learning algorithm directly into two commercial discrete-event simulation packages, ARENA and CSIM, paving the way for this approach to be applied to many other factory optimization problems for which there already exist simulation models. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #20534. 	[Title] A Reinforcement Learning Approach to Job-shop Scheduling [Abstract] We apply reinforcement learning methods to learn domain-specific heuristics for job shop scheduling. A repair-based scheduler starts with a critical-path schedule and incrementally repairs constraint violations with the goal of finding a short conflict-free schedule. The temporal difference algorithm T D() is applied to train a neural network to learn a heuristic evaluation function over states. This evaluation function is used by a one-step looka-head search procedure to find good solutions to new scheduling problems. We evaluate this approach on synthetic problems and on problems from a NASA space shuttle payload processing task. The evaluation function is trained on problems involving a small number of jobs and then tested on larger problems. The TD sched-uler performs better than the best known existing algorithm for this task|Zweben's iterative repair method based on simulated annealing. The results suggest that reinforcement learning can provide a new method for constructing high-performance scheduling systems. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1117760. 	[Title] KnightCap: A chess program that learns by combining TD() with minimax search [Abstract] In this paper we present TDLeaf(), a variation on the TD() algorithm that enables it to be used in conjunction with minimax search. We present some experiments in which our chess program, KnightCap, used TDLeaf() to learn its evaluation function while playing on the Free Ineternet Chess Server (FICS, fics.onenet.net). It improved from a 1650 rating to a 2100 rating in just 308 games and 3 days of play. We discuss some of the reasons for this success and also the relationship between our results and Tesauro's results in backgammon. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6210. 	[Title] Reinforcement Learning with Soft State Aggregation [Abstract] It is widely accepted that the use of more compact representations than lookup tables is crucial to scaling reinforcement learning (RL) algorithms to real-world problems. Unfortunately almost all of the theory of reinforcement learning assumes lookup table representations. In this paper we address the pressing issue of combining function approximation and RL, and present 1) a function approx-imator based on a simple extension to state aggregation (a commonly used form of compact representation), namely soft state aggregation, 2) a theory of convergence for RL with arbitrary, but fixed, soft state aggregation, 3) a novel intuitive understanding of the effect of state aggregation on online RL, and 4) a new heuristic adaptive state aggregation algorithm that finds improved compact representations by exploiting the non-discrete nature of soft state aggregation. Preliminary empirical results are also presented. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #28227. 	[Title] Reinforcement Learning Methods for Continuous-Time Markov Decision Problems [Abstract] Semi-Markov Decision Problems are continuous time generalizations of discrete time Markov Decision Problems. A number of reinforcement learning algorithms have been developed recently for the solution of Markov Decision Problems, based on the ideas of asynchronous dynamic programming and stochastic approximation. Among these are TD(), Q-learning, and Real-time Dynamic Programming. After reviewing semi-Markov Decision Problems and Bellman's optimality equation in that context, we propose algorithms similar to those named above, adapted to the solution of semi-Markov Decision Problems. We demonstrate these algorithms by applying them to the problem of determining the optimal control for a simple queueing system. We conclude with a discussion of circumstances under which these algorithms may be usefully ap plied. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6213. 	[Title] Machine Learning Learning to Predict by the Methods of Temporal Differences Keywords: Incremental learning, prediction, [Abstract] This article introduces a class of incremental learning procedures specialized for prediction|that is, for using past experience with an incompletely known system to predict its future behavior. Whereas conventional prediction-learning methods assign credit by means of the difference between predicted and actual outcomes, the new methods assign credit by means of the difference between temporally successive predictions. Although such temporal-difference methods have been used in Samuel's checker player, Holland's bucket brigade, and the author's Adaptive Heuristic Critic, they have remained poorly understood. Here we prove their convergence and optimality for special cases and relate them to supervised-learning methods. For most real-world prediction problems, temporal-difference methods require less memory and less peak computation than conventional methods; and they produce more accurate predictions. We argue that most problems to which supervised learning is currently applied are really prediction problems of the sort to which temporal-difference methods can be applied to advantage. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6214. 	[Title] Integrated Architectures for Learning, Planning, and Reacting Based on Approximating Dynamic Programming [Abstract] This paper extends previous work with Dyna, a class of architectures for intelligent systems based on approximating dynamic programming methods. Dyna architectures integrate trial-and-error (reinforcement) learning and execution-time planning into a single process operating alternately on the world and on a learned model of the world. In this paper, I present and show results for two Dyna architectures. The Dyna-PI architecture is based on dynamic programming's policy iteration method and can be related to existing AI ideas such as evaluation functions and universal plans (reactive systems). Using a navigation task, results are shown for a simple Dyna-PI system that simultaneously learns by trial and error, learns a world model, and plans optimal routes using the evolving world model. The Dyna-Q architecture is based on Watkins's Q-learning, a new kind of reinforcement learning. Dyna-Q uses a less familiar set of data structures than does Dyna-PI, but is arguably simpler to implement and use. We show that Dyna-Q architectures are easy to adapt for use in changing environments. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1130567. 	[Title] NEUROCONTROL BY REINFORCEMENT LEARNING [Abstract] Reinforcement learning (RL) is a model-free tuning and adaptation method for control of dynamic systems. Contrary to supervised learning, based usually on gradient descent techniques, RL does not require any model or sensitivity function of the process. Hence, RL can be applied to systems that are poorly understood, uncertain, nonlinear or for other reasons untractable with conventional methods. In reinforcement learning, the overall controller performance is evaluated by a scalar measure, called reinforcement. Depending on the type of the control task, reinforcement may represent an evaluation of the most recent control action or, more often, of an entire sequence of past control moves. In the latter case, the RL system learns how to predict the outcome of each individual control action. This prediction is then used to adjust the parameters of the controller. The mathematical background of RL is closely related to optimal control and dynamic programming. This paper gives a comprehensive overview of the RL methods and presents an application to the attitude control of a satellite. Some well known applications from the literature are reviewed as well. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6215. 	[Title] Planning by Incremental Dynamic Programming [Abstract] This paper presents the basic results and ideas of dynamic programming as they relate most directly to the concerns of planning in AI. These form the theoretical basis for the incremental planning methods used in the integrated architecture Dyna. These incremental planning methods are based on continually updating an evaluation function and the situation-action mapping of a reactive system. Actions are generated by the reactive system and thus involve minimal delay, while the incremental planning process guarantees that the actions and evaluation function will eventually be optimal|no matter how extensive a search is required. These methods are well suited to stochastic tasks and to tasks in which a complete and accurate model is not available. For tasks too large to implement the situation-action mapping as a table, supervised-learning methods must be used, and their capabilities remain a significant limitation of the approach. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6220. 	[Title] Issues in Using Function Approximation for Reinforcement Learning [Abstract] Reinforcement learning techniques address the problem of learning to select actions in unknown, dynamic environments. It is widely acknowledged that to be of use in complex domains, reinforcement learning techniques must be combined with generalizing function approximation methods such as artificial neural networks. Little, however, is understood about the theoretical properties of such combinations, and many researchers have encountered failures in practice. In this paper we identify a prime source of such failuresnamely, a systematic overestimation of utility values. Using Watkins' Q-Learning [18] as an example, we give a theoretical account of the phenomenon, deriving conditions under which one may expected it to cause learning to fail. Employing some of the most popular function approximators, we present experimental results which support the theoretical findings. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #628815. 	[Title] Optimal Attitude Control of Satellites by Artificial Neural Networks: a Pilot Study [Abstract] A pilot study is described on the practical application of artificial neural networks. The limit cycle of the attitude control of a satellite is selected as the test case. One of the sources of the limit cycle is a position dependent error in the observed attitude. A Reinforcement Learning method is selected, which is able to adapt a controller such that a cost function is optimised. An estimate of the cost function is learned by a neural `critic'. In our approach, the estimated cost function is directly represented as a function of the parameters of a linear controller. The critic is implemented as a CMAC network. Results from simulations show that the method is able to find optimal parameters without unstable behaviour. In particular in the case of large discontinuities in the attitude measurements, the method shows a clear improvement compared to the conventional approach: the RMS attitude error decreases approximately 30%. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #38480. 	[Title] Learning to Achieve Goals [Abstract] Temporal difference methods solve the temporal credit assignment problem for reinforcement learning. An important subproblem of general reinforcement learning is learning to achieve dynamic goals. Although existing temporal difference methods, such as Q learning, can be applied to this problem, they do not take advantage of its special structure. This paper presents the DG-learning algorithm, which learns efficiently to achieve dynamically changing goals and exhibits good knowledge transfer between goals. In addition, this paper shows how traditional relaxation techniques can be applied to the problem. Finally, experimental results are given that demonstrate the superiority of DG learning over Q learning in a moderately large, synthetic, non-deterministic domain. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6224. 	[Title] Tight Performance Bounds on Greedy Policies Based on Imperfect Value Functions [Abstract] Consider a given value function on states of a Markov decision problem, as might result from applying a reinforcement learning algorithm. Unless this value function equals the corresponding optimal value function, at some states there will be a discrepancy, which is natural to call the Bellman residual, between what the value function specifies at that state and what is obtained by a one-step lookahead along the seemingly best action at that state using the given value function to evaluate all succeeding states. This paper derives a tight bound on how far from optimal the discounted return for a greedy policy based on the given value function will be as a function of the maximum norm magnitude of this Bellman residual. A corresponding result is also obtained for value functions defined on state-action pairs, as are used in Q-learning. One significant application of these results is to problems where a function approximator is used to learn a value function, with training of the approxi-mator based on trying to minimize the Bellman residual across states or state-action pairs. When control is based on the use of the resulting value function, this result provides a link between how well the objectives of function approximator training are met and the quality of the resulting control. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1113182. 	[Title] TDLeaf(): Combining Temporal Difference learning with game-tree search. [Abstract] In this paper we present TDLeaf(), a variation on the TD() algorithm that enables it to be used in conjunction with minimax search. We present some experiments in both chess and backgammon which demonstrate its utility and provide comparisons with TD() and another less radical variant, TD-directed(). In particular, our chess program, KnightCap, used TDLeaf() to learn its evaluation function while playing on the Free Internet Chess Server (FICS, fics.onenet.net). It improved from a 1650 rating to a 2100 rating in just 308 games. We discuss some of the reasons for this success and the relationship between our results and Tesauro's results in backgammon. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #595056. 	[Title] Using Genetic Programming to Evolve Board Evaluation Functions [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #114. 	[Title] Learning to Act using Real-Time Dynamic Programming [Abstract] fl The authors thank Rich Yee, Vijay Gullapalli, Brian Pinette, and Jonathan Bachrach for helping to clarify the relationships between heuristic search and control. We thank Rich Sutton, Chris Watkins, Paul Werbos, and Ron Williams for sharing their fundamental insights into this subject through numerous discussions, and we further thank Rich Sutton for first making us aware of Korf's research and for his very thoughtful comments on the manuscript. We are very grateful to Dimitri Bertsekas and Steven Sullivan for independently pointing out an error in an earlier version of this article. Finally, we thank Harry Klopf, whose insight and persistence encouraged our interest in this class of learning problems. This research was supported by grants to A.G. Barto from the National Science Foundation (ECS-8912623 and ECS-9214866) and the Air Force Office of Scientific Research, Bolling AFB (AFOSR-89-0526). Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #28278. 	[Title] Chapter 1 Reinforcement Learning for Planning and Control [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1122425. 	[Title] Reinforcement Learning with Imitation in Heterogeneous Multi-Agent Systems [Abstract] The application of decision making and learning algorithms to multi-agent systems presents many interestingresearch challenges and opportunities. Among these is the ability for agents to learn how to act by observing or imitating other agents. We describe an algorithm, the IQ-algorithm, that integrates imitation with Q-learning. Roughly, a Q-learner uses the observations it has made of an expert agent to bias its exploration in promising directions. This algorithm goes beyond previous work in this direction by relaxing the oft-made assumptions that the learner (observer) and the expert (observed agent) share the same objectives and abilities. Our preliminary experiments demonstrate significant transfer between agents using the IQ-model and in many cases reductions in training time. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #28287. 	[Title] Robot Shaping: Developing Situated Agents through Learning [Abstract] Learning plays a vital role in the development of situated agents. In this paper, we explore the use of reinforcement learning to "shape" a robot to perform a predefined target behavior. We connect both simulated and real robots to A LECSYS, a parallel implementation of a learning classifier system with an extended genetic algorithm. After classifying different kinds of Animat-like behaviors, we explore the effects on learning of different types of agent's architecture (monolithic, flat and hierarchical) and of training strategies. In particular, hierarchical architecture requires the agent to learn how to coordinate basic learned responses. We show that the best results are achieved when both the agent's architecture and the training strategy match the structure of the behavior pattern to be learned. We report the results of a number of experiments carried out both in simulated and in real environments, and show that the results of simulations carry smoothly to real robots. While most of our experiments deal with simple reactive behavior, in one of them we demonstrate the use of a simple and general memory mechanism. As a whole, our experimental activity demonstrates that classifier systems with genetic algorithms can be practically employed to develop autonomous agents. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #128. 	[Title] Reinforcement Learning Algorithms for Average-Payoff Markovian Decision Processes [Abstract] Reinforcement learning (RL) has become a central paradigm for solving learning-control problems in robotics and artificial intelligence. RL researchers have focussed almost exclusively on problems where the controller has to maximize the discounted sum of payoffs. However, as emphasized by Schwartz (1993), in many problems, e.g., those for which the optimal behavior is a limit cycle, it is more natural and com-putationally advantageous to formulate tasks so that the controller's objective is to maximize the average payoff received per time step. In this paper I derive new average-payoff RL algorithms as stochastic approximation methods for solving the system of equations associated with the policy evaluation and optimal control questions in average-payoff RL tasks. These algorithms are analogous to the popular TD and Q-learning algorithms already developed for the discounted-payoff case. One of the algorithms derived here is a significant variation of Schwartz's R-learning algorithm. Preliminary empirical results are presented to validate these new algorithms. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #28290. 	[Title] Genetics-based Machine Learning and Behaviour Based Robotics: A New Synthesis complexity grows, the learning task [Abstract] difficult. We face this problem using an architecture based on learning classifier systems and on the description of the learning technique used and of the organizational structure proposed, we present experiments that show how behaviour acquisition can be achieved. Our simulated robot learns to structural properties of animal behavioural organization, as proposed by ethologists. After a Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1129096. 	[Title] AVERAGED REWARD REINFORCEMENT LEARNING APPLIED TO FUZZY RULE TUNING [Abstract] Fuzzy rules for control can be effectively tuned via reinforcement learning. Reinforcement learning is a weak learning method, which only requires information on the success or failure of the control application. The tuning process allows people to generate fuzzy rules which are unable to accurately perform control and have them tuned to be rules which provide smooth control. This paper explores a new simplified method of using reinforcement learning for the tuning of fuzzy control rules. It is shown that the learned fuzzy rules provide smoother control in the pole balancing domain than another approach. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #13960. 	[Title] Using a Case Base of Surfaces to Speed-Up Reinforcement Learning [Abstract] This paper demonstrates the exploitation of certain vision processing techniques to index into a case base of surfaces. The surfaces are the result of reinforcement learning and represent the optimum choice of actions to achieve some goal from anywhere in the state space. This paper shows how strong features that occur in the interaction of the system with its environment can be detected early in the learning process. Such features allow the system to identify when an identical, or very similar, task has been solved previously and to retrieve the relevant surface. This results in an orders of magnitude increase in learning rate. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #55968. 	[Title] Reinforcement Learning in the Multi-Robot Domain [Abstract] This paper describes a formulation of reinforcement learning that enables learning in noisy, dynamic environemnts such as in the complex concurrent multi-robot learning domain. The methodology involves minimizing the learning space through the use behaviors and conditions, and dealing with the credit assignment problem through shaped reinforcement in the form of heterogeneous reinforcement functions and progress estimators. We experimentally validate the ap proach on a group of four mobile robots learning a foraging task. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #124064. 	[Title] An Upper Bound on the Loss from Approximate Optimal-Value Functions [Abstract] Many reinforcement learning (RL) approaches can be formulated from the theory of Markov decision processes and the associated method of dynamic programming (DP). The value of this theoretical understanding, however, is tempered by many practical concerns. One important question is whether DP-based approaches that use function approximation rather than lookup tables, can avoid catastrophic effects on performance. This note presents a result in Bertsekas (1987) which guarantees that small errors in the approximation of a task's optimal value function cannot produce arbitrarily bad performance when actions are selected greedily. We derive an upper bound on performance loss which is slightly tighter than that in Bertsekas (1987), and we show the extension of the bound to Q-learning (Watkins, 1989). These results provide a theoretical justification for a practice that is common in reinforcement learning. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #58540. 	[Title] Machine Learning,  Explanation-Based Learning and Reinforcement Learning: A Unified View [Abstract] In speedup-learning problems, where full descriptions of operators are known, both explanation-based learning (EBL) and reinforcement learning (RL) methods can be applied. This paper shows that both methods involve fundamentally the same process of propagating information backward from the goal toward the starting state. Most RL methods perform this propagation on a state-by-state basis, while EBL methods compute the weakest preconditions of operators, and hence, perform this propagation on a region-by-region basis. Barto, Bradtke, and Singh (1995) have observed that many algorithms for reinforcement learning can be viewed as asynchronous dynamic programming. Based on this observation, this paper shows how to develop dynamic programming versions of EBL, which we call region-based dynamic programming or Explanation-Based Reinforcement Learning (EBRL). The paper compares batch and online versions of EBRL to batch and online versions of point-based dynamic programming and to standard EBL. The results show that region-based dynamic programming combines the strengths of EBL (fast learning and the ability to scale to large state spaces) with the strengths of reinforcement learning algorithms (learning of optimal policies). Results are shown in chess endgames and in synthetic maze tasks. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #299195. 	[Title] Learning to Play Games From Experience: An Application of Artificial Neural Networks and Temporal Difference Learning [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1116347. 	[Title] Fast Online Q() [Abstract] Q()-learning uses TD()-methods to accelerate Q-learning. The update complexity of previous online Q() implementations based on lookup-tables is bounded by the size of the state/action space. Our faster algorithm's update complexity is bounded by the number of actions. The method is based on the observation that Q-value updates may be postponed until they are needed. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #299197. 	[Title] TD Learning of Game Evaluation Functions with Hierarchical Neural Architectures [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #28350. 	[Title] On the Convergence of Stochastic Iterative Dynamic Programming Algorithms [Abstract] Recent developments in the area of reinforcement learning have yielded a number of new algorithms for the prediction and control of Markovian environments. These algorithms, including the TD() algorithm of Sutton (1988) and the Q-learning algorithm of Watkins (1989), can be motivated heuristically as approximations to dynamic programming (DP). In this paper we provide a rigorous proof of convergence of these DP-based learning algorithms by relating them to the powerful techniques of stochastic approximation theory via a new convergence theorem. The theorem establishes a general class of convergent algorithms to which both TD() and Q-learning belong. This report describes research done at the Dept. of Brain and Cognitive Sciences, the Center for Biological and Computational Learning, and the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for CBCL is provided in part by a grant from the NSF (ASC-9217041). Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Dept. of Defense. The authors were supported by a grant from the McDonnell-Pew Foundation, by a grant from ATR Human Information Processing Research Laboratories, by a grant from Siemens Corporation, by by grant IRI-9013991 from the National Science Foundation, by grant N00014-90-J-1942 from the Office of Naval Research, and by NSF grant ECS-9216531 to support an Initiative in Intelligent Control at MIT. Michael I. Jordan is a NSF Presidential Young Investigator. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1111230. 	[Title] Reinforcement Learning, Neural Networks and PI Control Applied to a Heating Coil [Abstract] An accurate simulation of a heating coil is used to compare the performance of a PI controller, a neural network trained to predict the steady-state output of the PI controller, a neural network trained to minimize the n-step ahead error between the coil output and the set point, and a reinforcement learning agent trained to minimize the sum of the squared error over time. Although the PI controller works very well for this task, the neural networks do result in improved performance. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #193742. 	[Title] Q-Learning with Hidden-Unit Restarting [Abstract] Platt's resource-allocation network (RAN) (Platt, 1991a, 1991b) is modified for a reinforcement-learning paradigm and to "restart" existing hidden units rather than adding new units. After restarting, units continue to learn via back-propagation. The resulting restart algorithm is tested in a Q-learning network that learns to solve an inverted pendulum problem. Solutions are found faster on average with the restart algorithm than without it. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #387795. 	[Title] University of Nevada Reno Design Strategies for Evolutionary Robotics [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #567005. 	[Title] An unsupervised neural network for low-level control of a wheeled mobile robot: noise resistance, stability, [Abstract] We have recently introduced a neural network mobile robot controller (NETMORC) that autonomously learns the forward and inverse odometry of a differential drive robot through an unsupervised learning-by-doing cycle. After an initial learning phase, the controller can move the robot to an arbitrary stationary or moving target while compensating for noise and other forms of disturbance, such as wheel slippage or changes in the robot's plant. In addition, the forward odometric map allows the robot to reach targets in the absence of sensory feedback. The controller is also able to adapt in response to long-term changes in the robot's plant, such as a change in the radius of the wheels. In this article we review the NETMORC architecture and describe its simplified algorithmic implementation, we present new, quantitative results on NETMORC's performance and adaptability under noise-free and noisy conditions, we compare NETMORC's performance on a trajectory-following task with the performance of an alternative controller, and we describe preliminary results on the hardware implementation of NETMORC with the mobile robot ROBUTER. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #23774. 	[Title] High-Performance Job-Shop Scheduling With A Time-Delay TD() Network [Abstract] Job-shop scheduling is an important task for manufacturing industries. We are interested in the particular task of scheduling payload processing for NASA's space shuttle program. This paper summarizes our previous work on formulating this task for solution by the reinforcement learning algorithm T D(). A shortcoming of this previous work was its reliance on hand-engineered input features. This paper shows how to extend the time-delay neural network (TDNN) architecture to apply it to irregular-length schedules. Experimental tests show that this TDNN-T D() network can match the performance of our previous hand-engineered system. The tests also show that both neural network approaches significantly outperform the best previous (non-learning) solution to this problem in terms of the quality of the resulting schedules and the number of search steps required to construct them. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1123553. 	[Title] Modeling the Student with Reinforcement Learning [Abstract] We describe a methodology for enabling an intelligent teaching system to make high level strategy decisions on the basis of low level student modeling information. This framework is less costly to construct, and superior to hand coding teaching strategies as it is more responsive to the learner's needs. In order to accomplish this, reinforcement learning is used to learn to associate superior teaching actions with certain states of the student's knowledge. Reinforcement learning (RL) has been shown to be flexible in handling noisy data, and does not need expert domain knowledge. A drawback of RL is that it often needs a significant number of trials for learning. We propose an off-line learning methodology using sample data, simulated students, and small amounts of expert knowledge to bypass this problem. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1117942. 	[Title] Multi-criteria reinforcement learning [Abstract] We consider multi-criteria sequential decision making problems, where the criteria are ordered according to their importance. Structural properties of these problems are touched and reinforcement learning algorithms, which learn asymptotically optimal decisions, are derived. Computer experiments confirm the theoretical results and provide further insight in the learning processes. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #7419. 	[Title] A Neuro-Dynamic Programming Approach to Retailer Inventory Management 1 [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #353541. 	[Title] Building Intelligent Agents for Web-Based Tasks: A Theory-Refinement Approach [Abstract] We present and evaluate an infrastructure with which to rapidly and easily build intelligent software agents for Web-based tasks. Our design is centered around two basic functions: ScoreThis-Link and ScoreThisPage. If given highly accurate such functions, standard heuristic search would lead to efficient retrieval of useful information. Our approach allows users to tailor our system's behavior by providing approximate advice about the above functions. This advice is mapped into neural network implementations of the two functions. Subsequent reinforcements from the Web (e.g., dead links) and any ratings of retrieved pages that the user wishes to provide are, respectively, used to refine the link- and page-scoring functions. Hence, our agent architecture provides an appealing middle ground between nonadaptive "agent" programming languages and systems that solely learn user preferences from the user's ratings of pages. We present a case study where we provide some simple advice and specialize our general-purpose system into a "home-page finder". An empirical study demonstrates that our approach leads to a more effective home-page finder than that of a leading commercial Web search engine. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1111304. 	[Title] Using Temporal-Difference Reinforcement Learning to Improve Decision-Theoretic Utilities for Diagnosis [Abstract] Probability theory represents and manipulates uncertainties, but cannot tell us how to behave. For that we need utility theory which assigns values to the usefulness of different states, and decision theory which concerns optimal rational decisions. There are many methods for probability modeling, but few for learning utility and decision models. We use reinforcement learning to find the optimal sequence of questions in a diagnosis situation while maintaining a high accuracy. Automated diagnosis on a heart-disease domain is used to demonstrate that temporal-difference learning can improve diagnosis. On the Cleveland heart-disease database our results are better than those reported from all previous methods. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1120020. 	[Title] Learning from undiscounted delayed rewards [Abstract] The general framework of reinforcement learning has been proposed by several researchers for both the solution of optimization problems and the realization of adaptive control schemes. To allow for an efficient application of reinforcement learning in either of these areas, it is necessary to solve both the structural and the temporal credit assignment problem. In this paper, we concentrate on the latter which is usually tackled through the use of learning algorithms that employ discounted rewards. We argue that for realistic problems this kind of solution is not satisfactory, since it does not address the effect of noise originating from different experiences and does not allow for an easy explanation of the parameters involved in the learning process. As a possible solution, we propose to keep the delayed reward undiscounted, but to discount the actual adaptation rate. Empirical results show that dependent on the kind of discount used amore stable convergence and even an increase in performance can be obtained. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1129243. 	[Title] Learning in Multi-Robot Systems [Abstract] This paper 1 discusses why traditional reinforcement learning methods, and algorithms applied to those models, result in poor performance in dynamic, situated multi-agent domains characterized by multiple goals, noisy perception and action, and inconsistent reinforcement. We propose a methodology for designing the representation and the forcement functions that take advantage of implicit domain knowledge in order to accelerate learning in such domains, and demonstrate it experimentally in two different mobile robot domains. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #12576. 	[Title] Learning Sequential Decision Rules Using Simulation Models and Competition [Abstract] The problem of learning decision rules for sequential tasks is addressed, focusing on the problem of learning tactical decision rules from a simple flight simulator. The learning method relies on the notion of competition and employs genetic algorithms to search the space of decision policies. Several experiments are presented that address issues arising from differences between the simulation model on which learning occurs and the target environment on which the decision rules are ultimately tested. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #195361. 	[Title] On Step-Size and Bias in Temporal-Difference Learning [Abstract] We present results for three new algorithms for setting the step-size parameters, ff and , of temporal-difference learning methods such as TD(). The overall task is that of learning to predict the outcome of an unknown Markov chain based on repeated observations of its state trajectories. The new algorithms select step-size parameters online in such a way as to eliminate the bias normally inherent in temporal-difference methods. We compare our algorithms with conventional Monte Carlo methods. Monte Carlo methods have a natural way of setting the step size: for each state s they use a step size of 1=n s , where n s is the number of times state s has been visited. We seek and come close to achieving comparable step-size algorithms for TD(). One new algorithm uses a = 1=n s schedule to achieve the same effect as processing a state backwards with TD(0), but remains completely incremental. Another algorithm uses a at each time equal to the estimated transition probability of the current transition. We present empirical results showing improvement in convergence rate over Monte Carlo methods and conventional TD(). A limitation of our results at present is that they apply only to tasks whose state trajectories do not contain cycles. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #218410. 	[Title] Explanation Based Learning: A Comparison of Symbolic and Neural Network Approaches [Abstract] Explanation based learning has typically been considered a symbolic learning method. An explanation based learning method that utilizes purely neural network representations (called EBNN) has recently been developed, and has been shown to have several desirable properties, including robustness to errors in the domain theory. This paper briefly summarizes the EBNN algorithm, then explores the correspondence between this neural network based EBL method and EBL methods based on symbolic representations. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #308529. 	[Title] The Role of the Trainer in Reinforcement Learning [Abstract] In this paper we propose a threestage incremental approach to the development of autonomous agents. We discuss some issues about the characteristics which differentiate reinforcement programs (RPs), and define the trainer as a particular kind of RP. We present a set of results obtained running experiments with a trainer which provides guidance to the AutonoMouse, our mousesized autonomous robot. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #28471. 	[Title] Markov Decision Processes in Large State Spaces [Abstract] In this paper we propose a new framework for studying Markov decision processes (MDPs), based on ideas from statistical mechanics. The goal of learning in MDPs is to find a policy that yields the maximum expected return over time. In choosing policies, agents must therefore weigh the prospects of short-term versus long-term gains. We study a simple MDP in which the agent must constantly decide between exploratory jumps and local reward mining in state space. The number of policies to choose from grows exponentially with the size of the state space, N . We view the expected returns as defining an energy landscape over policy space. Methods from statistical mechanics are used to analyze this landscape in the thermodynamic limit N ! 1. We calculate the overall distribution of expected returns, as well as the distribution of returns for policies at a fixed Hamming distance from the optimal one. We briefly discuss the problem of learning optimal policies from empirical estimates of the expected return. As a first step, we relate our findings for the entropy to the limit of high-temperature learning. Numerical simulations support the theoretical results. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #17208. 	[Title] Approximating Optimal Policies for Partially Observable Stochastic Domains [Abstract] The problem of making optimal decisions in uncertain conditions is central to Artificial Intelligence. If the state of the world is known at all times, the world can be modeled as a Markov Decision Process (MDP). MDPs have been studied extensively and many methods are known for determining optimal courses of action, or policies. The more realistic case where state information is only partially observable, Partially Observable Markov Decision Processes (POMDPs), have received much less attention. The best exact algorithms for these problems can be very inefficient in both space and time. We introduce Smooth Partially Observable Value Approximation (SPOVA), a new approximation method that can quickly yield good approximations which can improve over time. This method can be combined with reinforcement learning methods, a combination that was very effective in our test cases. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #672064. 	[Title] Direct Multi-Step Time Series Prediction Using TD() [Abstract] This paper explores the application of Temporal Difference (TD) learning (Sutton, 1988) to forecasting the behavior of dynamical systems with real-valued outputs (as opposed to game-like situations). The performance of TD learning in comparison to standard supervised learning depends on the amount of noise present in the data. In this paper, we use a deterministic chaotic time series from a low-noise laser. For the task of direct five-step ahead predictions, our experiments show that standard supervised learning is better than TD learning. The TD algorithm can be viewed as linking adjacent predictions. A similar effect can be obtained by sharing the internal representation in the network. We thus compare two architectures for both paradigms: the first architecture (separate hidden units) consists of individual networks for each of the five direct multi-step prediction tasks, the second (shared hidden units) has a single (larger) hidden layer that finds a representation from which all five predictions for the next five steps are generated. For this data set we do not find any significant difference between the two architectures. fl http://www.cs.colorado.edu/~andreas/Home.html. This paper is available as ftp://ftp.cs.colorado.edu/pub/Time-Series/MyPapers/kazlas.weigend nips7.ps.Z Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #28485. 	[Title] The Efficient Learning of Multiple Task Sequences [Abstract] I present a modular network architecture and a learning algorithm based on incremental dynamic programming that allows a single learning agent to learn to solve multiple Markovian decision tasks (MDTs) with significant transfer of learning across the tasks. I consider a class of MDTs, called composite tasks, formed by temporally concatenating a number of simpler, elemental MDTs. The architecture is trained on a set of composite and elemental MDTs. The temporal structure of a composite task is assumed to be unknown and the architecture learns to produce a temporal decomposition. It is shown that under certain conditions the solution of a composite MDT can be constructed by computationally inexpensive modifications of the solutions of its constituent elemental MDTs. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #91975. 	[Title] Learning Curve Bounds for Markov Decision Processes with Undiscounted Rewards [Abstract] Markov decision processes (MDPs) with undis-counted rewards represent an important class of problems in decision and control. The goal of learning in these MDPs is to find a policy that yields the maximum expected return per unit time. In large state spaces, computing these averages directly is not feasible; instead, the agent must estimate them by stochastic exploration of the state space. In this case, longer exploration times enable more accurate estimates and more informed decision-making. The learning curve for an MDP measures how the agent's performance depends on the allowed exploration time, T . In this paper we analyze these learning curves for a simple control problem with undiscounted rewards. In particular, methods from statistical mechanics are used to calculate lower bounds on the agent's performance in the thermodynamic limit T ! 1, N ! 1, ff = T =N (finite), where T is the number of time steps allotted per policy evaluation and N is the size of the state space. In this limit, we provide a lower bound on the return of policies that appear optimal based on imperfect statistics. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1128267. 	[Title] Metrics for Temporal Difference Learning [Abstract] For an absorbing Markov chain with a reinforcement on each transition, Bertsekas (1995a) gives a simple example where the function learned by TD( ll ) depends on ll . Bertsekas showed that for ll =1 the approximation is optimal with respect to a least-squares error of the value function, and that for ll =0 the approximation obtained by the TD method is poor with respect to the same metric. With respect to the error in the values, TD(1) approximates the function better than TD(0). However, with respect to the error in the differences in the values, TD(0) approximates the function better than TD(1). TD(1) is only better than TD(0) with respect to the former metric rather than the latter. In addition, direct TD( ll ) weights the errors unequally, while residual gradient methods (Baird, 1995, Harmon, Baird, & Klopf, 1995) weight the errors equally. For the case of control, a simple Markov decision process is presented for which direct TD(0) and residual gradient TD(0) both learn the optimal policy, while TD( 11 ) learns a suboptimal policy. These results suggest that, for this example, the differences in state values are more significant than the state values themselves, so TD(0) is preferable to TD(1). Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1105764. 	[Title] Least-Squares Temporal Difference Learning [Abstract] Submitted to NIPS-98 TD() is a popular family of algorithms for approximate policy evaluation in large MDPs. TD() works by incrementally updating the value function after each observed transition. It has two major drawbacks: it makes inefficient use of data, and it requires the user to manually tune a stepsize schedule for good performance. For the case of linear value function approximations and = 0, the Least-Squares TD (LSTD) algorithm of Bradtke and Barto [5] eliminates all stepsize parameters and improves data efficiency. This paper extends Bradtke and Barto's work in three significant ways. First, it presents a simpler derivation of the LSTD algorithm. Second, it generalizes from = 0 to arbitrary values of ; at the extreme of = 1, the resulting algorithm is shown to be a practical formulation of supervised linear regression. Third, it presents a novel, intuitive interpretation of LSTD as a model-based reinforcement learning technique. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1108329. 	[Title] Using Case-Based Reasoning as a Reinforcement Learning Framework for Optimization with Changing Criteria [Abstract] Practical optimization problems such as job-shop scheduling often involve optimization criteria that change over time. Repair-based frameworks have been identified as flexible computational paradigms for difficult combinatorial optimization problems. Since the control problem of repair-based optimization is severe, Reinforcement Learning (RL) techniques can be potentially helpful. However, some of the fundamental assumptions made by traditional RL algorithms are not valid for repair-based optimization. Case-Based Reasoning (CBR) compensates for some of the limitations of traditional RL approaches. In this paper, we present a Case-Based Reasoning RL approach, implemented in the C A B I N S system, for repair-based optimization. We chose job-shop scheduling as the testbed for our approach. Our experimental results show that C A B I N S is able to effectively solve problems with changing optimization criteria which are not known to the system and only exist implicitly in a extensional manner in the case base. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1385. 	[Title] REINFORCEMENT LEARNING FOR COORDINATED REACTIVE CONTROL [Abstract] The demands of rapid response and the complexity of many environments make it difficult to decompose, tune and coordinate reactive behaviors while ensuring consistency. Reinforcement learning networks can address the tuning problem, but do not address the problem of decomposition and coordination. We hypothesize that interacting reactions can often be decomposed into separate control tasks resident in separate networks and that the interaction can be coordinated through the tuning mechanism and a higher level controller. To explore these issues, we have implemented a reinforcement learning architecture as the reactive component of a two layer control system for a simulated race car. By varying the architecture, we test whether decomposing reactivity into separate controllers leads to superior overall performance and learning convergence in our domain. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1113459. 	[Title] Near-Optimal Performance for Reinforcement Learning in Polynomial Time [Abstract] We present new algorithms for reinforcement learning and prove that they have polynomial bounds on the resources required to achieve near-optimal return in general Markov decision processes. After observing that the number of actions required to approach the optimal return is lower bounded by the mixing time T of the optimal policy (in the undiscounted case) or by the horizon time T (in the discounted case), we then give algorithms requiring a number of actions and total computation time that are only polynomial in T and the number of states, for both the undiscounted and discounted cases. An interesting aspect of our algorithms is their explicit handling of the Exploration-Exploitation trade-off. These are the first results in the reinforcement learning literature giving algorithms that provably converge to near-optimal performance in polynomial time for general Markov decision processes. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #887. 	[Title] Some studies in machine learning using the game of checkers. IBM Journal, 3(3):211-229, 1959. Some [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #56708. 	[Title] ALECSYS and the AutonoMouse: Learning to Control a Real Robot by Distributed Classifier Systems [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #56709. 	[Title] GENETIC AND NON GENETIC OPERATORS IN ALECSYS [Abstract] It is well known that standard learning classifier systems, when applied to many different domains, exhibit a number of problems: payoff oscillation, difficult to regulate interplay between the reward system and the background genetic algorithm (GA), rule chains instability, default hierarchies instability, are only a few. ALECSYS is a parallel version of a standard learning classifier system (CS), and as such suffers of these same problems. In this paper we propose some innovative solutions to some of these problems. We introduce the following original features. Mutespec, a new genetic operator used to specialize potentially useful classifiers. Energy, a quantity introduced to measure global convergence in order to apply the genetic algorithm only when the system is close to a steady state. Dynamical adjustment of the classifiers set cardinality, in order to speed up the performance phase of the algorithm. We present simulation results of experiments run in a simulated two-dimensional world in which a simple agent learns to follow a light source. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #13193. 	[Title] Reinforcement Learning Algorithm for Partially Observable Markov Decision Problems [Abstract] Increasing attention has been paid to reinforcement learning algorithms in recent years, partly due to successes in the theoretical analysis of their behavior in Markov environments. If the Markov assumption is removed, however, neither generally the algorithms nor the analyses continue to be usable. We propose and analyze a new learning algorithm to solve a certain class of non-Markov decision problems. Our algorithm applies to problems in which the environment is Markov, but the learner has restricted access to state information. The algorithm involves a Monte-Carlo policy evaluation combined with a policy improvement method that is similar to that of Markov decision problems and is guaranteed to converge to a local maximum. The algorithm operates in the space of stochastic policies, a space which can yield a policy that performs considerably better than any deterministic policy. Although the space of stochastic policies is continuous|even for a discrete action space|our algorithm is computationally tractable. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #293271. 	[Title] Toward an Ideal Trainer* [Abstract] This paper appeared in 1994 in Machine Learning, 15 (3): 251-277. Abstract This paper demonstrates how the nature of the opposition during training affects learning to play two-person, perfect information board games. It considers different kinds of competitive training, the impact of trainer error, appropriate metrics for post-training performance measurement, and the ways those metrics can be applied. The results suggest that teaching a program by leading it repeatedly through the same restricted paths, albeit high quality ones, is overly narrow preparation for the variations that appear in real-world experience. The results also demonstrate that variety introduced into training by random choice is unreliable preparation, and that a program that directs its own training may overlook important situations. The results argue for a broad variety of training experience with play at many levels. This variety may either be inherent in the game or introduced deliberately into the training. Lesson and practice training, a blend of expert guidance and knowledge-based, self-directed elaboration, is shown to be particularly effective for learning during competition. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1107355. 	[Title] Coordinating Reactive Behaviors  keywords: reactive systems, planning and learning [Abstract] Combinating reactivity with planning has been proposed as a means of compensating for potentially slow response times of planners while still making progress toward long term goals. The demands of rapid response and the complexity of many environments make it difficult to decompose, tune and coordinate reactive behaviors while ensuring consistency. Neural networks can address the tuning problem, but are less useful for decomposition and coordination. We hypothesize that interacting reactions can be decomposed into separate behaviors resident in separate networks and that the interaction can be coordinated through the tuning mechanism and a higher level controller. To explore these issues, we have implemented a neural network architecture as the reactive component of a two layer control system for a simulated race car. By varying the architecture, we test whether decomposing reactivity into separate behaviors leads to superior overall performance, coordination and learning convergence. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #434. 	[Title] Learning Analytically and Inductively [Abstract] Learning is a fundamental component of intelligence, and a key consideration in designing cognitive architectures such as Soar [ Laird et al., 1986 ] . This chapter considers the question of what constitutes an appropriate general-purpose learning mechanism. We are interested in mechanisms that might explain and reproduce the rich variety of learning capabilities of humans, ranging from learning perceptual-motor skills such as how to ride a bicycle, to learning highly cognitive tasks such as how to play chess. Research on learning in fields such as cognitive science, artificial intelligence, neurobiology, and statistics has led to the identification of two distinct classes of learning methods: inductive and analytic. Inductive methods, such as neural network Backpropagation, learn general laws by finding statistical correlations and regularities among a large set of training examples. In contrast, analytical methods, such as Explanation-Based Learning, acquire general laws from many fewer training examples. They rely instead on prior knowledge to analyze individual training examples in detail, then use this analysis to distinguish relevant example features from the irrelevant. The question considered in this chapter is how to best combine inductive and analytical learning in an architecture that seeks to cover the range of learning exhibited by intelligent systems such as humans. We present a specific learning mechanism, Explanation Based Neural Network learning (EBNN), that blends these two types of learning, and present experimental results demonstrating its ability to learn control strategies for a mobile robot using Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #628667. 	[Title] Generalizing in TD() learning [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #628668. 	[Title] Towards a Reactive Critic [Abstract] In this paper we propose a reactive critic, that is able to respond to changing situations. We will explain why this is usefull in reinforcement learning, where the critic is used to improve the control strategy. We take a problem for which we can derive the solution analytically. This enables us to investigate the relation between the parameters and the resulting approximations of the critic. We will also demonstrate how the reactive critic reponds to changing situations. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #161221. 	[Title] A Local Learning Algorithm for Dynamic Feedforward and Recurrent Networks [Abstract] Most known learning algorithms for dynamic neural networks in non-stationary environments need global computations to perform credit assignment. These algorithms either are not local in time or not local in space. Those algorithms which are local in both time and space usually can not deal sensibly with `hidden units'. In contrast, as far as we can judge by now, learning rules in biological systems with many `hidden units' are local in both space and time. In this paper we propose a parallel on-line learning algorithm which performs local computations only, yet still is designed to deal with hidden units and with units whose past activations are `hidden in time'. The approach is inspired by Holland's idea of the bucket brigade for classifier systems, which is transformed to run on a neural network with fixed topology. The result is a feedforward or recurrent `neural' dissipative system which is consuming `weight-substance' and permanently trying to distribute this substance onto its connections in an appropriate way. Simple experiments demonstrating the feasability of the algorithm are reported. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1109957. 	[Title] Q-Learning for Bandit Problems [Abstract] Multi-armed bandits may be viewed as decompositionally-structured Markov decision processes (MDP's) with potentially very-large state sets. A particularly elegant methodology for computing optimal policies was developed over twenty ago by Gittins [Gittins & Jones, 1974]. Gittins' approach reduces the problem of finding optimal policies for the original MDP to a sequence of low-dimensional stopping problems whose solutions determine the optimal policy through the so-called "Gittins indices." Katehakis and Veinott [Katehakis & Veinott, 1987] have shown that the Gittins index for a process in state i may be interpreted as a particular component of the maximum-value function associated with the "restart-in-i" process, a simple MDP to which standard solution methods for computing optimal policies, such as successive approximation, apply. This paper explores the problem of learning the Git-tins indices on-line without the aid of a process model; it suggests utilizing process-state-specific Q-learning agents to solve their respective restart-in-state-i subproblems, and includes an example in which the online reinforcement learning approach is applied to a problem of stochastic scheduling|one instance drawn from a wide class of problems that may be formulated as bandit problems. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1103315. 	[Title] Value Function Based Production Scheduling [Abstract] Production scheduling, the problem of sequentially configuring a factory to meet forecasted demands, is a critical problem throughout the manufacturing industry. The requirement of maintaining product inventories in the face of unpredictable demand and stochastic factory output makes standard scheduling models, such as job-shop, inadequate. Currently applied algorithms, such as simulated annealing and constraint propagation, must employ ad-hoc methods such as frequent replanning to cope with uncertainty. In this paper, we describe a Markov Decision Process (MDP) formulation of production scheduling which captures stochasticity in both production and demands. The solution to this MDP is a value function which can be used to generate optimal scheduling decisions online. A simple example illustrates the theoretical superiority of this approach over replanning-based methods. We then describe an industrial application and two reinforcement learning methods for generating an approximate value function on this domain. Our results demonstrate that in both deterministic and noisy scenarios, value function approx imation is an effective technique. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1106406. 	[Title] Submitted to NIPS96, Section: Applications. Preference: Oral presentation Reinforcement Learning for Dynamic Channel Allocation in [Abstract] In cellular telephone systems, an important problem is to dynamically allocate the communication resource (channels) so as to maximize service in a stochastic caller environment. This problem is naturally formulated as a dynamic programming problem and we use a reinforcement learning (RL) method to find dynamic channel allocation policies that are better than previous heuristic solutions. The policies obtained perform well for a broad variety of call traffic patterns. We present results on a large cellular system In cellular communication systems, an important problem is to allocate the communication resource (bandwidth) so as to maximize the service provided to a set of mobile callers whose demand for service changes stochastically. A given geographical area is divided into mutually disjoint cells, and each cell serves the calls that are within its boundaries (see Figure 1a). The total system bandwidth is divided into channels, with each channel centered around a frequency. Each channel can be used simultaneously at different cells, provided these cells are sufficiently separated spatially, so that there is no interference between them. The minimum separation distance between simultaneous reuse of the same channel is called the channel reuse constraint . When a call requests service in a given cell either a free channel (one that does not violate the channel reuse constraint) may be assigned to the call, or else the call is blocked from the system; this will happen if no free channel can be found. Also, when a mobile caller crosses from one cell to another, the call is "handed off" to the cell of entry; that is, a new free channel is provided to the call at the new cell. If no such channel is available, the call must be dropped/disconnected from the system. One objective of a channel allocation policy is to allocate the available channels to calls so that the number of blocked calls is minimized. An additional objective is to minimize the number of calls that are dropped when they are handed off to a busy cell. These two objectives must be weighted appropriately to reflect their relative importance, since dropping existing calls is generally more undesirable than blocking new calls. with approximately 70 49 states. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #4584. 	[Title] References elements that can solve difficult learning control problems. on Simulation of Adaptive Behavior, pages [Abstract] Miller, G. (1956). The magical number seven, plus or minus two: Some limits on our capacity for processing information. The Psychological Review, 63(2):81-97. Schmidhuber, J. (1990b). Towards compositional learning with dynamic neural networks. Technical Report FKI-129-90, Technische Universitat Munchen, Institut fu Informatik. Servan-Schreiber, D., Cleermans, A., and McClelland, J. (1988). Encoding sequential structure in simple recurrent networks. Technical Report CMU-CS-88-183, Carnegie Mellon University, Computer Science Department. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #399339. 	[Title] A Comparison of Action Selection Learning Methods [Abstract] Our goal is to develop a hybrid cognitive model of how humans acquire skills on complex cognitive tasks. We are pursuing this goal by designing hybrid computational architectures for the NRL Navigation task, which requires competent senso-rimotor coordination. In this paper, we empirically compare two methods for control knowledge acquisition (reinforcement learning and a novel variant of action models), as well as a hybrid of these methods, with human learning on this task. Our results indicate that the performance of our action models approach more closely approximates the rate of human learning on the task than does reinforcement learning or the hybrid. We also experimentally explore the impact of background knowledge on system performance. By adding knowledge used by the action models system to the benchmark reinforcement learner, we elevate its performance above that of the action models system. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #241133. 	[Title] Machine Learning, 22(1/2/3):95-121, 1996. On the Worst-case Analysis of Temporal-difference Learning Algorithms [Abstract] We study the behavior of a family of learning algorithms based on Sutton's method of temporal differences. In our on-line learning framework, learning takes place in a sequence of trials, and the goal of the learning algorithm is to estimate a discounted sum of all the reinforcements that will be received in the future. In this setting, we are able to prove general upper bounds on the performance of a slightly modified version of Sutton's so-called TD() algorithm. These bounds are stated in terms of the performance of the best linear predictor on the given training sequence, and are proved without making any statistical assumptions of any kind about the process producing the learner's observed training sequence. We also prove lower bounds on the performance of any algorithm for this learning problem, and give a similar analysis of the closely related problem of learning to predict in a model in which the learner must produce predictions for a whole batch of observations before receiving reinforcement. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #134128. 	[Title] Learning To Play the Game of Chess [Abstract] This paper presents NeuroChess, a program which learns to play chess from the final outcome of games. NeuroChess learns chess board evaluation functions, represented by artificial neural networks. It integrates inductive neural network learning, temporal differencing, and a variant of explanation-based learning. Performance results illustrate some of the strengths and weaknesses of this approach. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #153598. 	[Title] Analytical Mean Squared Error Curves in Temporal Difference Learning [Abstract] We have calculated analytical expressions for how the bias and variance of the estimators provided by various temporal difference value estimation algorithms change with o*ine updates over trials in absorbing Markov chains using lookup table representations. We illustrate classes of learning curve behavior in various chains, and show the manner in which TD is sensitive to the choice of its step size and eligibility trace parameters. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1107455. 	[Title] Solving Combinatorial Optimization Tasks by Reinforcement Learning: A General Methodology Applied to Resource-Constrained Scheduling [Abstract] This paper introduces a methodology for solving combinatorial optimization problems through the application of reinforcement learning methods. The approach can be applied in cases where several similar instances of a combinatorial optimization problem must be solved. The key idea is to analyze a set of "training" problem instances and learn a search control policy for solving new problem instances. The search control policy has the twin goals of finding high-quality solutions and finding them quickly. Results of applying this methodology to a NASA scheduling problem show that the learned search control policy is much more effective than the best known non-learning search procedure|a method based on simulated annealing. Please summarise all the given information.

Paper #1106547 has the title `Learning to Race: Experiments with a Simulated Race Car  
` and the abstract `We have implemented a reinforcement learning architecture as the reactive component of a two layer control system for a simulated race car. We have found that separating the layers has expedited gradually improving competition and mult-agent interaction. We ran experiments to test the tuning, decomposition and coordination of the low level behaviors. We then extended our control system to allow passing of other cars and tested its ability to avoid collisions. The best design used reinforcement learning with separate networks for each behavior, coarse coded input and a simple rule based coordination mechanism. 
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Question: Which category should Paper #1106547 be classified as ?
You can select one from ['Neural_Networks', 'Case_Based', 'Theory', 'Reinforcement_Learning', 'Probabilistic_Methods', 'Rule_Learning', 'Genetic_Algorithms'].


Paper #1106547 has the title `Learning to Race: Experiments with a Simulated Race Car  
` and the abstract `We have implemented a reinforcement learning architecture as the reactive component of a two layer control system for a simulated race car. We have found that separating the layers has expedited gradually improving competition and mult-agent interaction. We ran experiments to test the tuning, decomposition and coordination of the low level behaviors. We then extended our control system to allow passing of other cars and tested its ability to avoid collisions. The best design used reinforcement learning with separate networks for each behavior, coarse coded input and a simple rule based coordination mechanism. 
`.
Question: Which category should Paper #1106547 be classified as ?
You can select one from ['Neural_Networks', 'Case_Based', 'Theory', 'Reinforcement_Learning', 'Probabilistic_Methods', 'Rule_Learning', 'Genetic_Algorithms'].

This paper should be classified into: Reinforcement_Learning