Above are papers related to the following paper: [Paper_ID] Paper #8875. 	[Title] A Coevolutionary Approach to Learning Sequential Decision Rules [Abstract] We present a coevolutionary approach to learning sequential decision rules which appears to have a number of advantages over non-coevolutionary approaches. The coevolutionary approach encourages the formation of stable niches representing simpler sub-behaviors. The evolutionary direction of each subbehavior can be controlled independently, providing an alternative to evolving complex behavior using intermediate training steps. Results are presented showing a significant learning rate speedup over a non-coevolutionary approach in a simulated robot domain. In addition, the results suggest the coevolutionary approach may lead to emer gent problem decompositions. 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 #229635. 	[Title] Evolutionary Neural Networks for Value Ordering in Constraint Satisfaction Problems [Abstract] Technical Report AI94-218 May 1994 Abstract A new method for developing good value-ordering strategies in constraint satisfaction search is presented. Using an evolutionary technique called SANE, in which individual neurons evolve to cooperate and form a neural network, problem-specific knowledge can be discovered that results in better value-ordering decisions than those based on problem-general heuristics. A neural network was evolved in a chronological backtrack search to decide the ordering of cars in a resource-limited assembly line. The network required 1/30 of the backtracks of random ordering and 1/3 of the backtracks of the maximization of future options heuristic. The SANE approach should extend well to other domains where heuristic information is either difficult to discover or problem-specific. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1120643. 	[Title] Genetic Algorithms as Multi-Coordinators in Large-Scale Optimization [Abstract] We present high-level, decomposition-based algorithms for large-scale block-angular optimization problems containing integer variables, and demonstrate their effectiveness in the solution of large-scale graph partitioning problems. These algorithms combine the subproblem-coordination paradigm (and lower bounds) of price-directive decomposition methods with knapsack and genetic approaches to the utilization of "building blocks" of partial solutions. Even for graph partitioning problems requiring billions of variables in a standard 0-1 formulation, this approach produces high-quality solutions (as measured by deviations from an easily computed lower bound), and substantially outperforms widely-used graph partitioning techniques based on heuristics and spectral methods. 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 #1104647. 	[Title] Real-time Interactive Neuro-evolution [Abstract] In standard neuro-evolution, a population of networks is evolved in the task, and the network that best solves the task is found. This network is then fixed and used to solve future instances of the problem. Networks evolved in this way do not handle real-time interaction very well. It is hard to evolve a solution ahead of time that can cope effectively with all the possible environments that might arise in the future and with all the possible ways someone may interact with it. This paper proposes evolving feedforward neural networks online to create agents that improve their performance through real-time interaction. This approach is demonstrated in a game world where neural-network-controlled individuals play against humans. Through evolution, these individuals learn to react to varying opponents while appropriately taking into account conflicting goals. After initial evaluation offline, the population is allowed to evolve online, and its performance improves considerably. The population not only adapts to novel situations brought about by changing strategies in the opponent and the game layout, but it also improves its performance in situations that it has already seen in offline training. This paper will describe an implementation of online evolution and shows that it is a practical method that exceeds the performance of offline evolution alone. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #83725. 	[Title] Explanations of Empirically Derived Reactive Plans [Abstract] Given an adequate simulation model of the task environment and payoff function that measures the quality of partially successful plans, competition-based heuristics such as genetic algorithms can develop high performance reactive rules for interesting sequential decision tasks. We have previously described an implemented system, called SAMUEL, for learning reactive plans and have shown that the system can successfully learn rules for a laboratory scale tactical problem. In this paper, we describe a method for deriving explanations to justify the success of such empirically derived rule sets. The method consists of inferring plausible subgoals and then explaining how the reactive rules trigger a sequence of actions (i.e., a stra tegy) to satisfy the subgoals. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #785678. 	[Title] Self-Nonself Discrimination in a Computer [Abstract] The problem of protecting computer systems can be viewed generally as the problem of learning to distinguish self from other. We describe a method for change detection which is based on the generation of T cells in the immune system. Mathematical analysis reveals computational costs of the system, and preliminary experiments illustrate how the method might be applied to the problem of computer viruses. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #8213. 	[Title] Robust Reinforcement Learning in Motion Planning [Abstract] While exploring to find better solutions, an agent performing online reinforcement learning (RL) can perform worse than is acceptable. In some cases, exploration might have unsafe, or even catastrophic, results, often modeled in terms of reaching `failure' states of the agent's environment. This paper presents a method that uses domain knowledge to reduce the number of failures during exploration. This method formulates the set of actions from which the RL agent composes a control policy to ensure that exploration is conducted in a policy space that excludes most of the unacceptable policies. The resulting action set has a more abstract relationship to the task being solved than is common in many applications of RL. Although the cost of this added safety is that learning may result in a suboptimal solution, we argue that this is an appropriate tradeoff in many problems. We illustrate this method in the domain of motion planning. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #181782. 	[Title] Hierarchical Explanation-Based Reinforcement Learning [Abstract] Explanation-Based Reinforcement Learning (EBRL) was introduced by Dietterich and Flann as a way of combining the ability of Reinforcement Learning (RL) to learn optimal plans with the generalization ability of Explanation-Based Learning (EBL) (Di-etterich & Flann, 1995). We extend this work to domains where the agent must order and achieve a sequence of subgoals in an optimal fashion. Hierarchical EBRL can effectively learn optimal policies in some of these sequential task domains even when the subgoals weakly interact with each other. We also show that when a planner that can achieve the individual subgoals is available, our method converges even faster. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #647447. 	[Title] Performance of Multi-Parent Crossover Operators on Numerical Function Optimization Problems [Abstract] The multi-parent scanning crossover, generalizing the traditional uniform crossover, and diagonal crossover, generalizing 1-point (n-point) crossovers, were introduced in [5]. In subsequent publications, see [6, 18, 19], several aspects of multi-parent recombination are discussed. Due to space limitations, however, a full overview of experimental results showing the performance of multi-parent GAs on numerical optimization problems has never been published. This technical report is meant to fill this gap and make results available. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1153816. 	[Title]  [Abstract] Co-evolution of Pursuit and Evasion II: Simulation Methods and Results fl Abstract In a previous SAB paper [10], we presented the scientific rationale for simulating the coevolution of pursuit and evasion strategies. Here, we present an overview of our simulation methods and some results. Our most notable results are as follows. First, co-evolution works to produce good pursuers and good evaders through a pure bootstrapping process, but both types are rather specially adapted to their opponents' current counter-strategies. Second, eyes and brains can also co-evolve within each simulated species for example, pursuers usually evolved eyes on the front of their bodies (like cheetahs), while evaders usually evolved eyes pointing sideways or even backwards (like gazelles). Third, both kinds of coevolution are promoted by allowing spatially distributed populations, gene duplication, and an explicitly spatial morphogenesis program for eyes and brains that allows bilateral symmetry. The paper concludes by discussing some possible applications of simulated pursuit-evasion coevolu tion in biology and entertainment. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #646809. 	[Title] Orgy in the Computer: Multi-Parent Reproduction in Genetic Algorithms [Abstract] In this paper we investigate the phenomenon of multi-parent reproduction, i.e. we study recombination mechanisms where an arbitrary n &gt; 1 number of parents participate in creating children. In particular, we discuss scanning crossover that generalizes the standard uniform crossover and diagonal crossover that generalizes 1-point crossover, and study the effects of different number of parents on the GA behavior. We conduct experiments on tough function optimization problems and observe that by multi-parent operators the performance of GAs can be enhanced significantly. We also give a theoretical foundation by showing how these operators work on distributions. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #18582. 	[Title] Knowledge-Based Genetic Learning [Abstract] Genetic algorithms have been proven to be a powerful tool within the area of machine learning. However, there are some classes of problems where they seem to be scarcely applicable, e.g. when the solution to a given problem consists of several parts that influence each other. In that case the classic genetic operators cross-over and mutation do not work very well thus preventing a good performance. This paper describes an approach to overcome this problem by using high-level genetic operators and integrating task specific but domain independent knowledge to guide the use of these operators. The advantages of this approach are shown for learning a rule base to adapt the parameters of an image processing operator path within the SOLUTION system. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #57119. 	[Title] New Methods for Competitive Coevolution [Abstract] We consider "competitive coevolution," in which fitness is based on direct competition among individuals selected from two independently evolving populations of "hosts" and "parasites." Competitive coevolution can lead to an "arms race," in which the two populations reciprocally drive one another to increasing levels of performance and complexity. We use the games of Nim and 3-D Tic-Tac-Toe as test problems to explore three new techniques in competitive coevolution. "Competitive fitness sharing" changes the way fitness is measured, "shared sampling" provides a method for selecting a strong, diverse set of parasites, and the "hall of fame" encourages arms races by saving good individuals from prior generations. We provide several different motivations for these methods, and mathematical insights into their use. Experimental comparisons are done, and a detailed analysis of these experiments is presented in terms of testing issues, diversity, extinction, arms race progress measurements, and drift. 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 #8865. 	[Title] Using Genetic Algorithms to Explore Pattern Recognition in the Immune System  COMMENTS WELCOME [Abstract] This paper describes an immune system model based on binary strings. The purpose of the model is to study the pattern recognition processes and learning that take place at both the individual and species levels in the immune system. The genetic algorithm (GA) is a central component of the model. The paper reports simulation experiments on two pattern recognition problems that are relevant to natural immune systems. Finally, it reviews the relation between the model and explicit fitness sharing techniques for genetic algorithms, showing that the immune system model implements a form of implicit fitness sharing. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #35. 	[Title] 4 Implementing Application Specific Routines  Genetic algorithms in search, optimization, and machine learning. Reading, MA: Addison-Wesley. [Abstract] To implement a specific application, you should only have to change the file app.c. Section 2 describes the routines in app.c in detail. If you use additional variables for your specific problem, the easiest method of making them available to other program units is to declare them in sga.h and external.h. However, take care that you do not redeclare existing variables. Two example applications files are included in the SGA-C distribution. The file app1.c performs the simple example problem included with the Pascal version; finding the maximum of x 10 , where x is an integer interpretation of a chromosome. A slightly more complex application is include in app2.c. This application illustrates two features that have been added to SGA-C. The first of these is the ithruj2int function, which converts bits i through j in a chromosome to an integer. The second new feature is the utility pointer that is associated with each population member. The example application interprets each chromosome as a set of concatenated integers in binary form. The lengths of these integer fields is determined by the user-specified value of field size, which is read in by the function app data(). The field size must be less than the smallest of the chromosome length and the length of an unsigned integer. An integer array for storing the interpreted form of each chromosome is dynamically allocated and assigned to the chromosome's utility pointer in app malloc(). The ithruj2int routine (see utility.c) is used to translate each chromosome into its associated vector. The fitness for each chromosome is simply the sum of the squares of these integers. This example application will function for any chromosome length. SGA-C is intended to be a simple program for first-time GA experimentation. It is not intended to be definitive in terms of its efficiency or the grace of its implementation. The authors are interested in the comments, criticisms, and bug reports from SGA-C users, so that the code can be refined for easier use in subsequent versions. Please email your comments to rob@galab2.mh.ua.edu, or write to TCGA: The authors gratefully acknowledge support provided by NASA under Grant NGT-50224 and support provided by the National Science Foundation under Grant CTS-8451610. We also thank Hillol Kargupta for donating his tournament selection implementation. Booker, L. B. (1982). Intelligent behavior as an adaptation to the task environment (Doctoral dissertation, Technical Report No. 243. Ann Arbor: University of Michigan, Logic of Computers Group). Dissertations Abstracts International, 43(2), 469B. (University Microfilms No. 8214966) Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #608292. 	[Title] Evolving Complex Structures via Co- operative Coevolution [Abstract] A cooperative coevolutionary approach to learning complex structures is presented which, although preliminary in nature, appears to have a number of advantages over non-coevolutionary approaches. The cooperative coevolutionary approach encourages the parallel evolution of substructures which interact in useful ways to form more complex higher level structures. The architecture is designed to be general enough to permit the inclusion, if appropriate, of a priori knowledge in the form of initial biases towards particular kinds of decompositions. A brief summary of initial results obtained from testing this architecture in several problem domains is presented which shows a significant speedup over more traditional non-coevolutionary approaches. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1152676. 	[Title]  [Abstract] Evolving Cooperative Groups: Preliminary Results Abstract Multi-agent systems require coordination of sources with distinct expertise to perform complex tasks effectively. In this paper, we use co-evolutionary approach using genetic algorithms to evolve multiple individuals who can effectively cooperate to solve a common problem. We concurrently run a GA for each individual in the group. In this paper, we experiment with a room painting domain which requires cooperation of two agents. We have used two mechanisms for evaluating an individual in one population: (a) pair it randomly with members from the other population, (b) pair it with members of the other population in a shared memory containing the best pairs found so far. Both the approaches are successful in generating optimal behavior patterns. However, our preliminary results exhibit a slight edge for the shared memory approach. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #8872. 	[Title] Machine Learning,  Efficient Reinforcement Learning through Symbiotic Evolution [Abstract] This article presents a new reinforcement learning method called SANE (Symbiotic, Adaptive Neuro-Evolution), which evolves a population of neurons through genetic algorithms to form a neural network capable of performing a task. Symbiotic evolution promotes both cooperation and specialization, which results in a fast, efficient genetic search and discourages convergence to suboptimal solutions. In the inverted pendulum problem, SANE formed effective networks 9 to 16 times faster than the Adaptive Heuristic Critic and 2 times faster than Q-learning and the GENITOR neuro-evolution approach without loss of generalization. Such efficient learning, combined with few domain assumptions, make SANE a promising approach to a broad range of reinforcement learning problems, including many real-world applications. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #8874. 	[Title] A Cooperative Coevolutionary Approach to Function Optimization [Abstract] A general model for the coevolution of cooperating species is presented. This model is instantiated and tested in the domain of function optimization, and compared with a traditional GA-based function optimizer. The results are encouraging in two respects. They suggest ways in which the performance of GA and other EA-based optimizers can be improved, and they suggest a new approach to evolving complex structures such as neural networks and rule sets. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #56112. 	[Title] Simulation-Assisted Learning by Competition: Effects of Noise Differences Between Training Model and Target Environment [Abstract] The problem of learning decision rules for sequential tasks is addressed, focusing on the problem of learning tactical plans from a simple flight simulator where a plane must avoid a missile. The learning method relies on the notion of competition and employs genetic algorithms to search the space of decision policies. 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. Specifically, either the model or the target environment may contain noise. These experiments examine the effect of learning tactical plans without noise and then testing the plans in a noisy environment, and the effect of learning plans in a noisy simulator and then testing the plans in a noise-free environment. Empirical results show that, while best result are obtained when the training model closely matches the target environment, using a training environment that is more noisy than the target environment is better than using using a training environment that has less noise than the target environment. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #575795. 	[Title] Adapting the Evaluation Space to Improve Global Learning [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #84021. 	[Title] Using Genetic Algorithms for Supervised Concept Learning [Abstract] Genetic Algorithms (GAs) have traditionally been used for non-symbolic learning tasks. In this chapter we consider the application of a GA to a symbolic learning task, supervised concept learning from examples. A GA concept learner (GABL) is implemented that learns a concept from a set of positive and negative examples. GABL is run in a batch-incremental mode to facilitate comparison with an incremental concept learner, ID5R. Preliminary results support that, despite minimal system bias, GABL is an effective concept learner and is quite competitive with ID5R as the target concept increases in complexity. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #56119. 	[Title] Using a Genetic Algorithm to Learn Strategies for Collision Avoidance and Local Navigation [Abstract] Navigation through obstacles such as mine fields is an important capability for autonomous underwater vehicles. One way to produce robust behavior is to perform projective planning. However, real-time performance is a critical requirement in navigation. What is needed for a truly autonomous vehicle are robust reactive rules that perform well in a wide variety of situations, and that also achieve real-time performance. In this work, SAMUEL, a learning system based on genetic algorithms, is used to learn high-performance reactive strategies for navigation and collision avoidance. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #127033. 	[Title] LEARNING ROBOT BEHAVIORS USING GENETIC ALGORITHMS [Abstract] Genetic Algorithms are used to learn navigation and collision avoidance behaviors for robots. The learning is performed under simulation, and the resulting behaviors are then used to control the The approach to learning behaviors for robots described here reflects a particular methodology for learning via a simulation model. The motivation is that making mistakes on real systems may be costly or dangerous. In addition, time constraints might limit the number of experiences during learning in the real world, while in many cases, the simulation model can be made to run faster than real time. Since learning may require experimenting with behaviors that might occasionally produce unacceptable results if applied to the real world, or might require too much time in the real environment, we assume that hypothetical behaviors will be evaluated in a simulation model (the off-line system). As illustrated in Figure 1, the current best behavior can be placed in the real, on-line system, while learning continues in the off-line system [1]. The learning algorithm was designed to learn useful behaviors from simulations of limited fidelity. The expectation is that behaviors learned in these simulations will be useful in real-world environments. Previous studies have illustrated that knowledge learned under simulation is robust and might be applicable to the real world if the simulation is more general (i.e. has more noise, more varied conditions, etc.) than the real world environment [2]. Where this is not possible, it is important to identify the differences between the simulation and the world and note the effect upon the learning process. The research reported here continues to examine this hypothesis. The next section very briefly explains the learning algorithm (and gives pointers to where more extensive documentation can be found). After that, the actual robot is described. Then we describe the simulation of the robot. The task _______________ actual robot. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #197054. 	[Title] Evolving Obstacle Avoidance Behavior in a Robot Arm [Abstract] Existing approaches for learning to control a robot arm rely on supervised methods where correct behavior is explicitly given. It is difficult to learn to avoid obstacles using such methods, however, because examples of obstacle avoidance behavior are hard to generate. This paper presents an alternative approach that evolves neural network controllers through genetic algorithms. No input/output examples are necessary, since neuro-evolution learns from a single performance measurement over the entire task of grasping an object. The approach is tested in a simulation of the OSCAR-6 robot arm which receives both visual and sensory input. Neural networks evolved to effectively avoid obstacles at various locations to reach random target locations. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #6209. 	[Title] Transfer of Learning by Composing Solutions of Elemental Sequential Tasks [Abstract] Although building sophisticated learning agents that operate in complex environments will require learning to perform multiple tasks, most applications of reinforcement learning have focussed on single tasks. In this paper I consider a class of sequential decision tasks (SDTs), called composite sequential decision tasks, formed by temporally concatenating a number of elemental sequential decision tasks. Elemental SDTs cannot be decomposed into simpler SDTs. I consider a learning agent that has to learn to solve a set of elemental and composite SDTs. I assume that the structure of the composite tasks is unknown to the learning agent. The straightforward application of reinforcement learning to multiple tasks requires learning the tasks separately, which can waste computational resources, both memory and time. I present a new learning algorithm and a modular architecture that learns the decomposition of composite SDTs, and achieves transfer of learning by sharing the solutions of elemental SDTs across multiple composite SDTs. The solution of a composite SDT is constructed by computationally inexpensive modifications of the solutions of its constituent elemental SDTs. I provide a proof of one aspect of the learning algorithm. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #212930. 	[Title] The Functional Transfer of Knowledge for Coronary Artery Disease Diagnosis [Abstract] A distinction between two forms of task knowledge transfer, representational and functional, is reviewed followed by a discussion of MTL, a modified version of the multiple task learning (MTL) neural network method of functional transfer. The MTL method employs a separate learning rate, k , for each task output node k. k varies as a function of a measure of relatedness, R k , between the kth task and the primary task of interest. An MTL network is applied to a diagnostic domain of four levels of coronary artery disease. Results of experiments demonstrate the ability of MTL to develop a predictive model for one level of disease which has superior diagnostic ability over models produced by either single task learning or standard multiple task learning. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #395075. 	[Title] EVOLVING NEURAL NETWORKS WITH COLLABORATIVE SPECIES [Abstract] We present a coevolutionary architecture for solving decomposable problems and apply it to the evolution of artificial neural networks. Although this work is preliminary in nature it has a number of advantages over non-coevolutionary approaches. The coevolutionary approach utilizes a divide-and-conquer technique in which species representing simpler subtasks are evolved in separate instances of a genetic algorithm executing in parallel. Collaborations among the species are formed representing complete solutions. Species are created dynamically as needed. Results are presented in which the coevolutionary architecture produces higher quality solutions in fewer evolutionary trials when compared with an alternative non-coevolutionary approach on the problem of evolving cascade networks for parity computation. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1153860. 	[Title]  [Abstract] 1] R.K. Belew, J. McInerney, and N. Schraudolph, Evolving networks: using the genetic algorithm with connectionist learning, in Artificial Life II, SFI Studies in the Science of Complexity, C.G. Langton, C. Taylor, J.D. Farmer, S. Rasmussen Eds., vol. 10, Addison-Wesley, 1991. [2] M. McInerney, and A.P. Dhawan, Use of genetic algorithms with back propagation in training of feed-forward neural networks, in IEEE International Conference on Neural Networks, vol. 1, pp. 203-208, 1993. [3] F.Z. Brill, D.E. Brown, and W.N. Martin, Fast genetic selection of features for neural network classifiers, IEEE Transactions on Neural Networks, vol. 3, no. 2, pp. 324-328, 1992. [4] F. Dellaert, and J. Vandewalle, Automatic design of cellular neural networks by means of genetic algorithms: finding a feature detector, in The Third IEEE International Workshop on Cellular Neural Networks and Their Applications, IEEE, New Jersey, pp. 189-194, 1994. [5] D.E. Moriarty, and R. Miikkulainen, Efficient reinforcement learning through symbiotic evolution, Machine Learning, vol. 22, pp. 11-33, 1996. [6] L. Davis, Handbook of Genetic Algorithms, Van Nostrand Reinhold, New York, 1991. [7] D. Whitely, The GENITOR algorithm and selective pressure, in Proceedings of the Third Interanational Conference on Genetic Algorithms, J.D. Schaffer Ed., Morgan Kauffman, San Mateo, CA, 1989, pp. 116-121. [8] van Camp, D., T. Plate and G.E. Hinton (1992). The Xerion Neural Network Simulator and Documentation. Department of Computer Science, University of Toronto, Toronto. 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 #1105221. 	[Title] ADAPTIVE TESTING OF CONTROLLERS FOR AUTONOMOUS VEHICLES [Abstract] Autonomous vehicles are likely to require sophisticated software controllers to maintain vehicle performance in the presence of vehicle faults. The test and evaluation of complex software controllers is expected to be a challenging task. The goal of this e ffort is to apply machine learning techniques from the field of arti ficial intelligence to the general problem of evaluating an intelligent controller for an autonomous vehicle. The approach involves subjecting a controller to an adaptively chosen set of fault scenarios within a vehicle simulator, and searching for combinations of faults that produce noteworthy performance by the vehicle controller. The search employs a genetic algorithm. We illustrate the approach by evaluating the performance of a subsumption-based controller for an autonomous vehicle. The preliminary evidence suggests that this approach is an e ffective alternative to manual testing of sophisticated software controllers. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #416455. 	[Title] ROBO-SHEPHERD: LEARNING COMPLEX ROBOTIC BEHAVIORS [Abstract] This paper reports on recent results using genetic algorithms to learn decision rules for complex robot behaviors. The method involves evaluating hypothetical rule sets on a simulator and applying simulated evolution to evolve more effective rules. The main contributions of this paper are (1) the task learned is a complex behavior involving multiple mobile robots, and (2) the learned rules are verified through experiments on operational mobile robots. The case study involves a shepherding task in which one mobile robot attempts to guide another robot to a specified area. 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 #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 #63832. 	[Title] An Evolutionary Approach to Learning in Robots [Abstract] Evolutionary learning methods have been found to be useful in several areas in the development of intelligent robots. In the approach described here, evolutionary algorithms are used to explore alternative robot behaviors within a simulation model as a way of reducing the overall knowledge engineering effort. This paper presents some initial results of applying the SAMUEL genetic learning system to a collision avoidance and navigation task for mobile robots. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #168410. 	[Title] A Modular Q-Learning Architecture for Manipulator Task Decomposition `Data storage in the cerebellar model ar [Abstract] Compositional Q-Learning (CQ-L) (Singh 1992) is a modular approach to learning to perform composite tasks made up of several elemental tasks by reinforcement learning. Skills acquired while performing elemental tasks are also applied to solve composite tasks. Individual skills compete for the right to act and only winning skills are included in the decomposition of the composite task. We extend the original CQ-L concept in two ways: (1) a more general reward function, and (2) the agent can have more than one actuator. We use the CQ-L architecture to acquire skills for performing composite tasks with a simulated two-linked manipulator having large state and action spaces. The manipulator is a non-linear dynamical system and we require its end-effector to be at specific positions in the workspace. Fast function approximation in each of the Q-modules is achieved through the use of an array of Cerebellar Model Articulation Controller (CMAC) (Albus Our research interests involve the scaling up of machine learning methods, especially reinforcement learning, for autonomous robot control. We are interested in function approximators suitable for reinforcement learning in problems with large state spaces, such as the Cerebellar Model Articulation Controller (CMAC) (Albus 1975) which permit fast, online learning and good local generalization. In addition, we are interested in task decomposition by reinforcement learning and the use of hierarchical and modular function approximator architectures. We are examining the effectiveness of a modified Hierarchical Mixtures of Experts (HME) (Jordan & Jacobs 1993) approach for reinforcement learning since the original HME was developed mainly for supervised learning and batch learning tasks. The incorporation of domain knowledge into reinforcement learning agents is an important way of extending their capabilities. Default policies can be specified, and domain knowledge can also be used to restrict the size of the state-action space, leading to faster learning. We are investigating the use of Q-Learning (Watkins 1989) in planning tasks, using a classifier system (Holland 1986) to encode the necessary condition-action rules. Jordan, M. & Jacobs, R. (1993), Hierarchical mixtures of experts and the EM algorithm, Technical Report 9301, MIT Computational Cognitive Science. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #103515. 	[Title] The Royal Road for Genetic Algorithms: Fitness Landscapes and GA Performance [Abstract] Genetic algorithms (GAs) play a major role in many artificial-life systems, but there is often little detailed understanding of why the GA performs as it does, and little theoretical basis on which to characterize the types of fitness landscapes that lead to successful GA performance. In this paper we propose a strategy for addressing these issues. Our strategy consists of defining a set of features of fitness landscapes that are particularly relevant to the GA, and experimentally studying how various configurations of these features affect the GA's performance along a number of dimensions. In this paper we informally describe an initial set of proposed feature classes, describe in detail one such class ("Royal Road" functions), and present some initial experimental results concerning the role of crossover and "building blocks" on landscapes constructed from features of this class. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #95579. 	[Title] Hierarchical Reinforcement Learning with the MAXQ Value Function Decomposition [Abstract] This paper describes the MAXQ method for hierarchical reinforcement learning based on a hierarchical decomposition of the value function and derives conditions under which the MAXQ decomposition can represent the optimal value function. We show that for certain execution models, the MAXQ decomposition will produce better policies than Feudal Q learning. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #135130. 	[Title] USING A GENETIC ALGORITHM TO LEARN BEHAVIORS FOR AUTONOMOUS VEHICLES [Abstract] Truly autonomous vehicles will require both projec - tive planning and reactive components in order to perform robustly. Projective components are needed for long-term planning and replanning where explicit reasoning about future states is required. Reactive components allow the system to always have some action available in real-time, and themselves can exhibit robust behavior, but lack the ability to expli - citly reason about future states over a long time period. This work addresses the problem of creating reactive components for autonomous vehicles. Creating reactive behaviors (stimulus-response rules) is generally difficult, requiring the acquisition of much knowledge from domain experts, a problem referred to as the knowledge acquisition bottleneck. SAMUEL is a system that learns reactive behaviors for autonomous agents. SAMUEL learns these behaviors under simulation, automating the process of creating stimulus-response rules and therefore reducing the bottleneck. The learning algorithm was designed to learn useful behaviors from simulations of limited fidelity. Current work is investigating how well behaviors learned under simulation environments work in real world environments. In this paper, we describe SAMUEL, and describe behaviors that have been learned for simulated autonomous aircraft, autonomous underwater vehicles, and robots. These behaviors include dog fighting, missile evasion, track - ing, navigation, and obstacle avoidance. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1107674. 	[Title] EVOLUTIONARY ALGORITHMS IN ROBOTICS [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1129570. 	[Title] Automatic Modularization by Speciation [Abstract] Real-world problems are often too difficult to be solved by a single monolithic system. There are many examples of natural and artificial systems which show that a modular approach can reduce the total complexity of the system while solving a difficult problem satisfactorily. The success of modular artificial neural networks in speech and image processing is a typical example. However, designing a modular system is a difficult task. It relies heavily on human experts and prior knowledge about the problem. There is no systematic and automatic way to form a modular system for a problem. This paper proposes a novel evolutionary learning approach to designing a modular system automatically, without human intervention. Our starting point is speciation, using a technique based on fitness sharing. While speciation in genetic algorithms is not new, no effort has been made towards using a speciated population as a complete modular system. We harness the specialized expertise in the species of an entire population, rather than a single individual, by introducing a gating algorithm. We demonstrate our approach to automatic modularization by improving co-evolutionary game learning. Following earlier researchers, we learn to play iterated prisoner's dilemma. We review some problems of earlier co-evolutionary learning, and explain their poor generalization ability and sudden mass extinctions. The generalization ability of our approach is significantly better than past efforts. Using the specialized expertise of the entire speciated population though a gating algorithm, instead of the best individual, is the main contributor to this improvement. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1125092. 	[Title] 2-D Pole Balancing with Recurrent Evolutionary Networks [Abstract] The success of evolutionary methods on standard control learning tasks has created a need for new benchmarks. The classic pole balancing problem is no longer difficult enough to serve as a viable yardstick for measuring the learning efficiency of these systems. In this paper we present a more difficult version to the classic problem where the cart and pole can move in a plane. We demonstrate a neuroevolution system (Enforced Sub-Populations, or ESP) that can solve this difficult problem without velocity information. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1129573. 	[Title] The Exploitation of Cooperation in Iterated Prisoner's Dilemma [Abstract] We follow Axelrod [2] in using the genetic algorithm to play Iterated Prisoner's Dilemma. Each member of the population (i.e., each strategy) is evaluated by how it performs against the other members of the current population. This creates a dynamic environment in which the algorithm is optimising to a moving target instead of the usual evaluation against some fixed set of strategies, causing an "arms race" of innovation [3]. We conduct two sets of experiments. The first set investigates what conditions evolve the best strategies. The second set studies the robustness of the strategies thus evolved, that is, are the strategies useful only in the round robin of its population or are they effective against a wide variety of opponents? Our results indicate that the population has nearly always converged by about 250 generations, by which time the bias in the population has almost always stabilised at 85%. Our results confirm that cooperation almost always becomes the dominant strategy [1, 2]. We can also confirm that seeding the population with expert strategies is best done in small amounts so as to leave the initial population with plenty of genetic diversity [7]. The lack of robustness in strategies produced in the round robin evaluation is demonstrated by some examples of a population of nave cooperators being exploited by a defect-first strategy. This causes a sudden but ephemeral decline in the population's average score, but it recovers when less nave cooperators emerge and do well against the exploiting strategies. This example of runaway evolution is brought back to reality by a suitable mutation, reminiscent of punctuated equilibria [12]. We find that a way to reduce such navity is to make the GA population play against an extra, Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1104999. 	[Title] EVOLVING ROBOT BEHAVIORS [Abstract] This paper discusses the use of evolutionary computation to evolve behaviors that exhibit emergent intelligent behavior. Genetic algorithms are used to learn navigation and collision avoidance behaviors for robots. The learning is performed under simulation, and the resulting behaviors are then used to control the actual robot. Some of the emergent behavior is described in detail. 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 #1071981. 	[Title] Learning to Sense Selectively in Physical Domains [Abstract] In this paper we describe an approach to representing, using, and improving sensory skills for physical domains. We present Icarus, an architecture that represents control knowledge in terms of durative states and sequences of such states. The system operates in cycles, activating a state that matches the environmental situation and letting that state control behavior until its conditions fail or until finding another matching state with higher priority. Information about the probability that conditions will remain satisfied minimizes demands on sensing, as does knowledge about the durations of states and their likely successors. Three statistical learning methods let the system gradually reduce sensory load as it gains experience in a domain. We report experimental evaluations of this ability on three simulated physical tasks: flying an aircraft, steering a truck, and balancing a pole. Our experiments include lesion studies that identify the reduction in sensing due to each of the learning mechanisms and others that examine the effect of domain characteristics. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #647408. 	[Title] Every Niching Method has its Niche: Fitness Sharing and Implicit Sharing Compared [Abstract] Various extensions to the Genetic Algorithm (GA) attempt to find all or most optima in a search space containing several optima. Many of these emulate natural speciation. For co-evolutionary learning to succeed in a range of management and control problems, such as learning game strategies, such methods must find all or most optima. However, suitable comparison studies are rare. We compare two similar GA specia-tion methods, fitness sharing and implicit sharing. Using a realistic letter classification problem, we find they have advantages under different circumstances. Implicit sharing covers optima more comprehensively, when the population is large enough for a species to form at each optimum. With a population not large enough to do this, fitness sharing can find the optima with larger basins of attraction, and ignore the peaks with narrow bases, while implicit sharing is more easily distracted. This indicates that for a speciated GA trying to find as many near-global optima as possible, implicit sharing works well only if the population is large enough. This requires prior knowledge of how many peaks exist. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #118259. 	[Title] Emergent Hierarchical Control Structures: Learning Reactive/Hierarchical Relationships in Reinforcement Environments [Abstract] The use of externally imposed hierarchical structures to reduce the complexity of learning control is common. However, it is acknowledged that learning the hierarchical structure itself is an important step towards more general (learning of many things as required) and less bounded (learning of a single thing as specified) learning. Presented in this paper is a reinforcement learning algorithm called Nested Q-learning that generates a hierarchical control structure in reinforcement learning domains. The emergent structure combined with learned bottom-up reactive reactions results in a reactive hierarchical control system. Effectively, the learned hierarchy decomposes what would otherwise be a monolithic evaluation function into many smaller evaluation functions that can be recombined without the loss of previously learned information. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #118260. 	[Title] Learning Hierarchical Control Structures for Multiple Tasks and Changing Environments [Abstract] While the need for hierarchies within control systems is apparent, it is also clear to many researchers that such hierarchies should be learned. Learning both the structure and the component behaviors is a difficult task. The benefit of learning the hierarchical structures of behaviors is that the decomposition of the control structure into smaller transportable chunks allows previously learned knowledge to be applied to new but related tasks. Presented in this paper are improvements to Nested Q-learning (NQL) that allow more realistic learning of control hierarchies in reinforcement environments. Also presented is a simulation of a simple robot performing a series of related tasks that is used to compare both hierarchical and non-hierarchal learning techniques. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #574710. 	[Title] ROBOT LEARNING WITH PARALLEL GENETIC ALGORITHMS ON NETWORKED COMPUTERS [Abstract] This work explores the use of machine learning methods for extracting knowledge from simulations of complex systems. In particular, we use genetic algorithms to learn rule-based strategies used by autonomous robots. The evaluation of a given strategy may require several executions of a simulation to produce a meaningful estimate of the quality of the strategy. As a consequence, the evaluation of a single individual in the genetic algorithm requires a fairly substantial amount of computation. Such a system suggests the sort of large-grained parallelism that is available on a network of workstations. We describe an implementation of a parallel genetic algorithm, and present case studies of the resulting speedup on two robot learning tasks. 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 #1152761. 	[Title]  [Abstract] 1] R.K. Belew, J. McInerney, and N. Schraudolph, Evolving networks: using the genetic algorithm with connectionist learning, in Artificial Life II, SFI Studies in the Science of Complexity, C.G. Langton, C. Taylor, J.D. Farmer, S. Rasmussen Eds., vol. 10, Addison-Wesley, 1991. [2] M. McInerney, and A.P. Dhawan, Use of genetic algorithms with back propagation in training of feed-forward neural networks, in IEEE International Conference on Neural Networks, vol. 1, pp. 203-208, 1993. [3] F.Z. Brill, D.E. Brown, and W.N. Martin, Fast genetic selection of features for neural network classifiers, IEEE Transactions on Neural Networks, vol. 3, no. 2, pp. 324-328, 1992. [4] F. Dellaert, and J. Vandewalle, Automatic design of cellular neural networks by means of genetic algorithms: finding a feature detector, in The Third IEEE International Workshop on Cellular Neural Networks and Their Applications, IEEE, New Jersey, pp. 189-194, 1994. [5] D.E. Moriarty, and R. Miikkulainen, Efficient reinforcement learning through symbiotic evolution, Machine Learning, vol. 22, pp. 11-33, 1996. [6] L. Davis, Handbook of Genetic Algorithms, Van Nostrand Reinhold, New York, 1991. [7] D. Whitely, The GENITOR algorithm and selective pressure, in Proceedings of the Third Interanational Conference on Genetic Algorithms, J.D. Schaffer Ed., Morgan Kauffman, San Mateo, CA, 1989, pp. 116-121. [8] van Camp, D., T. Plate and G.E. Hinton (1992). The Xerion Neural Network Simulator and Documentation. Department of Computer Science, University of Toronto, Toronto. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #62718. 	[Title] AN ENHANCER FOR REACTIVE PLANS [Abstract] This paper describes our method for improving the comprehensibility, accuracy, and generality of reactive plans. A reactive plan is a set of reactive rules. Our method involves two phases: (1) formulate explanations of execution traces, and then (2) generate new reactive rules from the explanations. Since the explanation phase has been previously described, the primary focus of this paper is the rule generation phase. This latter phase consists of taking a subset of the explanations and using these explanations to generate a set of new reactive rules to add to the original set. The particular subset of the explanations that is chosen yields rules that provide new domain knowledge for handling knowledge gaps in the original rule set. The original rule set, in a complimentary manner, provides expertise to fill the gaps where the domain knowledge provided by the new rules is incomplete. Please summarise all the given information.

Paper #8875 has the title `A Coevolutionary Approach to Learning Sequential Decision Rules  
` and the abstract `We present a coevolutionary approach to learning sequential decision rules which appears to have a number of advantages over non-coevolutionary approaches. The coevolutionary approach encourages the formation of stable niches representing simpler sub-behaviors. The evolutionary direction of each subbehavior can be controlled independently, providing an alternative to evolving complex behavior using intermediate training steps. Results are presented showing a significant learning rate speedup over a non-coevolutionary approach in a simulated robot domain. In addition, the results suggest the coevolutionary approach may lead to emer gent problem decompositions.
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Question: Which category should Paper #8875 be classified as ?
You can select one from ['Neural_Networks', 'Case_Based', 'Theory', 'Reinforcement_Learning', 'Probabilistic_Methods', 'Rule_Learning', 'Genetic_Algorithms'].


Paper #8875 has the title `A Coevolutionary Approach to Learning Sequential Decision Rules  
` and the abstract `We present a coevolutionary approach to learning sequential decision rules which appears to have a number of advantages over non-coevolutionary approaches. The coevolutionary approach encourages the formation of stable niches representing simpler sub-behaviors. The evolutionary direction of each subbehavior can be controlled independently, providing an alternative to evolving complex behavior using intermediate training steps. Results are presented showing a significant learning rate speedup over a non-coevolutionary approach in a simulated robot domain. In addition, the results suggest the coevolutionary approach may lead to emer gent problem decompositions.
`.
Question: Which category should Paper #8875 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: Genetic_Algorithms