Above are papers related to the following paper: [Paper_ID] Paper #628500. 	[Title] LEARNING TO AVOID COLLISIONS: A REINFORCEMENT LEARNING PARADIGM FOR MOBILE ROBOT NAVIGATION [Abstract] The paper describes a self-learning control system for a mobile robot. Based on sensor information the control system has to provide a steering signal in such a way that collisions are avoided. Since in our case no `examples' are available, the system learns on the basis of an external reinforcement signal which is negative in case of a collision and zero otherwise. We describe the adaptive algorithm which is used for a discrete coding of the state space, and the adaptive algorithm for learning the correct mapping from the input (state) vector to the output (steering) signal. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #649731. 	[Title] Incremental Grid Growing: Encoding High-Dimensional Structure into a Two-Dimensional Feature Map [Abstract] Knowledge of clusters and their relations is important in understanding high-dimensional input data with unknown distribution. Ordinary feature maps with fully connected, fixed grid topology cannot properly reflect the structure of clusters in the input space|there are no cluster boundaries on the map. Incremental feature map algorithms, where nodes and connections are added to or deleted from the map according to the input distribution, can overcome this problem. However, so far such algorithms have been limited to maps that can be drawn in 2-D only in the case of 2-dimensional input space. In the approach proposed in this paper, nodes are added incrementally to a regular, 2-dimensional grid, which is drawable at all times, irrespective of the dimensionality of the input space. The process results in a map that explicitly represents the cluster structure of the high-dimensional input. 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 #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 #1135137. 	[Title] Temporal Compositional Processing by a DSOM Hierarchical Model [Abstract] Any intelligent system, whether human or robotic, must be capable of dealing with patterns over time. Temporal pattern processing can be achieved if the system has a short-term memory capacity (STM) so that different representations can be maintained for some time. In this work we propose a neural model wherein STM is realized by leaky integrators in a self-organizing system. The model exhibits composition-ality, that is, it has the ability to extract and construct progressively complex and structured associations in an hierarchical manner, starting with basic and primitive (temporal) elements. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #950305. 	[Title] Learning Topology-Preserving Maps Using Self-Supervised Backpropagation [Abstract] Self-supervised backpropagation is an unsupervised learning procedure for feedforward networks, where the desired output vector is identical with the input vector. For backpropagation, we are able to use powerful simulators running on parallel machines. Topology-preserving maps, on the other hand, can be developed by a variant of the competitive learning procedure. However, in a degenerate case, self-supervised backpropagation is a version of competitive learning. A simple extension of the cost function of backpropagation leads to a competitive version of self-supervised backpropagation, which can be used to produce topographic maps. We demonstrate the approach applied to the Traveling Salesman Problem (TSP). Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #648232. 	[Title] VECTOR ASSOCIATIVE MAPS: UNSUPERVISED REAL-TIME ERROR-BASED LEARNING AND CONTROL OF MOVEMENT TRAJECTORIES [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1114153. 	[Title] Quantifying neighbourhood preservation in topographic mappings [Abstract] Mappings that preserve neighbourhood relationships are important in many contexts, from neurobiology to multivariate data analysis. It is important to be clear about precisely what is meant by preserving neighbourhoods. At least three issues have to be addressed: how neighbourhoods are defined, how a perfectly neighbourhood preserving mapping is defined, and how an objective function for measuring discrepancies from perfect neighbour-hood preservation is defined. We review several standard methods, and using a simple example mapping problem show that the different assumptions of each lead to non-trivially different answers. We also introduce a particular measure for topographic distortion, which has the form of a quadratic assignment problem. Many previous methods are closely related to this measure, which thus serves to unify disparate approaches. 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 #6196. 	[Title] The Parti-game Algorithm for Variable Resolution Reinforcement Learning in Multidimensional State-spaces [Abstract] Parti-game is a new algorithm for learning feasible trajectories to goal regions in high dimensional continuous state-spaces. In high dimensions it is essential that learning does not plan uniformly over a state-space. Parti-game maintains a decision-tree partitioning of state-space and applies techniques from game-theory and computational geometry to efficiently and adaptively concentrate high resolution only on critical areas. The current version of the algorithm is designed to find feasible paths or trajectories to goal regions in high dimensional spaces. Future versions will be designed to find a solution that optimizes a real-valued criterion. Many simulated problems have been tested, ranging from two-dimensional to nine-dimensional state-spaces, including mazes, path planning, non-linear dynamics, and planar snake robots in restricted spaces. In all cases, a good solution is found in less than ten trials and a few minutes. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #188471. 	[Title] Adaptive state space quantisation for reinforcement learning of collision-free navigation [Abstract] The paper describes a self-learning control system for a mobile robot. Based on sensor information the control system has to provide a steering signal in such a way that collisions are avoided. Since in our case no `examples' are available, the system learns on the basis of an external reinforcement signal which is negative in case of a collision and zero otherwise. Rules from Temporal Difference learning are used to find the correct mapping between the (discrete) sensor input space and the steering signal. We describe the algorithm for learning the correct mapping from the input (state) vector to the output (steering) signal, and the algorithm which is used for a discrete coding of the input state space. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #436796. 	[Title] Some Extensions of the K-Means Algorithm for Image Segmentation and Pattern Classification [Abstract] In this paper we present some extensions to the k-means algorithm for vector quantization that permit its efficient use in image segmentation and pattern classification tasks. It is shown that by introducing state variables that correspond to certain statistics of the dynamic behavior of the algorithm, it is possible to find the representative centers of the lower dimensional manifolds that define the boundaries between classes, for clouds of multi-dimensional, multi-class data; this permits one, for example, to find class boundaries directly from sparse data (e.g., in image segmentation tasks) or to efficiently place centers for pattern classification (e.g., with local Gaussian classifiers). The same state variables can be used to define algorithms for determining adaptively the optimal number of centers for clouds of data with space-varying density. Some examples of the application of these extensions are also given. This report describes research done within CIMAT (Guanajuato, Mexico), the Center for Biological and Computational Learning in the Department of Brain and Cognitive Sciences, and at the Artificial Intelligence Laboratory. This research is sponsored by grants from the Office of Naval Research under contracts N00014-91-J-1270 and N00014-92-J-1879; by a grant from the National Science Foundation under contract ASC-9217041; and by a grant from the National Institutes of Health under contract NIH 2-S07-RR07047. Additional support is provided by the North Atlantic Treaty Organization, ATR Audio and Visual Perception Research Laboratories, Mitsubishi Electric Corporation, Sumitomo Metal Industries, and Siemens AG. Support for the A.I. Laboratory's artificial intelligence research is provided by ONR contract N00014-91-J-4038. J.L. Marroquin was supported in part by a grant from the Consejo Nacional de Ciencia y Tecnologia, Mexico. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #13885. 	[Title] Learning Controllers for Industrial Robots [Abstract] One of the most significant cost factors in robotics applications is the design and development of real-time robot control software. Control theory helps when linear controllers have to be developed, but it doesn't sufficiently support the generation of non-linear controllers, although in many cases (such as in compliance control), nonlinear control is essential for achieving high performance. This paper discusses how Machine Learning has been applied to the design of (non-)linear controllers. Several alternative function approximators, including Multilayer Perceptrons (MLP), Radial Basis Function Networks (RBFNs), and Fuzzy Controllers are analyzed and compared, leading to the definition of two major families: Open Field Function Function Approximators and Locally Receptive Field Function Approximators. It is shown that RBFNs and Fuzzy Controllers bear strong similarities, and that both have a symbolic interpretation. This characteristics allows for applying both symbolic and statistic learning algorithms to synthesize the network layout from a set of examples and, possibly, some background knowledge. Three integrated learning algorithms, two of which are original, are described and evaluated on experimental test cases. The first test case is provided by a robot KUKA IR-361 engaged into the "peg-into-hole" task, whereas the second is represented by a classical prediction task on the Mackey-Glass time series. From the experimental comparison, it appears that both Fuzzy Controllers and RBFNs synthesised from examples are excellent approximators, and that, in practice, they can be even more accurate than MLPs. 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 #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 #949318. 	[Title] SARDNET: A Self-Organizing Feature Map for Sequences [Abstract] A self-organizing neural network for sequence classification called SARDNET is described and analyzed experimentally. SARDNET extends the Kohonen Feature Map architecture with activation retention and decay in order to create unique distributed response patterns for different sequences. SARDNET yields extremely dense yet descriptive representations of sequential input in very few training iterations. The network has proven successful on mapping arbitrary sequences of binary and real numbers, as well as phonemic representations of English words. Potential applications include isolated spoken word recognition and cognitive science models of sequence processing. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1102407. 	[Title] PREENS Tutorial How to use tools and NN simulations [Abstract] This report contains a description about how to use PREENS: its tools, convis and its neural network simulation programs. It does so by using several sample sessions. For more technical details, I refer to the convis technical description. 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 #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 #948299. 	[Title] Visualizing High-Dimensional Structure with the Incremental Grid Growing Neural Network [Abstract]  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 #1108050. 	[Title] Theory of Synaptic Plasticity in Visual Cortex [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #184918. 	[Title] SELF-ORGANIZING PROCESS BASED ON LATERAL INHIBITION AND SYNAPTIC RESOURCE REDISTRIBUTION [Abstract] Self-organizing feature maps are usually implemented by abstracting the low-level neural and parallel distributed processes. An external supervisor finds the unit whose weight vector is closest in Euclidian distance to the input vector and determines the neighborhood for weight adaptation. The weights are changed proportional to the Euclidian distance. In a biologically more plausible implementation, similarity is measured by a scalar product, neighborhood is selected through lateral inhibition and weights are changed by redistributing synaptic resources. The resulting self-organizing process is quite similar to the abstract case. However, the process is somewhat hampered by boundary effects and the parameters need to be carefully evolved. It is also necessary to add a redundant dimension to the input vectors. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #139865. 	[Title] PREENS, a Parallel Research Execution Environment for Neural Systems [Abstract] PREENS a Parallel Research Execution Environment for Neural Systems is a distributed neurosimulator, targeted on networks of workstations and transputer systems. As current applications of neural networks often contain large amounts of data and as the neural networks involved in tasks such as vision are very large, high requirements on memory and computational resources are imposed on the target execution platforms. PREENS can be executed in a distributed environment, i.e. tools and neural network simulation programs can be running on any machine connectable via TCP/IP. Using this approach, larger tasks and more data can be examined using an efficient coarse grained parallelism. Furthermore, the design of PREENS allows for neural networks to be running on any high performance MIMD machine such as a trans-puter system. In this paper, the different features and design concepts of PREENS are discussed. These can also be used for other applications, like image processing. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #13917. 	[Title] Designing Neural Networks for Adaptive Control [Abstract] This paper discusses the design of neural networks to solve specific problems of adaptive control. In particular, it investigates the influence of typical problems arising in real-world control tasks as well as techniques for their solution that exist in the framework of neurocontrol. Based on this investigation, a systematic design method is developed. The method is exemplified for the development of an adaptive force controller for a robot manipulator. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1120866. 	[Title] A Model of Visually Guided Plasticity of the Auditory Spatial Map in the Barn Owl [Abstract] In the barn owl, the self-organization of the auditory map of space in the external nucleus of the inferior colliculus (ICx) is strongly influenced by vision, but the nature of this interaction is unknown. In this paper a biologically plausible and mini-malistic model of ICx self-organization is proposed where the ICx receives a learn signal based on the owl's visual attention. When the visual attention is focused in the same spatial location as the auditory input, the learn signal is turned on, and the map is allowed to adapt. A two-dimensional Kohonen map is used to model the ICx, and simulations were performed to evaluate how the learn signal would affect the auditory map. When primary area of visual attention was shifted at different spatial locations, the auditory map shifted to the corresponding location. The shift was complete when done early in the development and partial when done later. Similar results have been observed in the barn owl with its visual field modified with prisms. Therefore, the simulations suggest that a learn signal, based on visual attention, is a possible explanation for the auditory plasticity. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1130600. 	[Title] Adaptive state space quantisation: adding and removing neurons [Abstract] This paper describes a self-learning control system for a mobile robot. Based on local sensor data, a robot is taught to avoid collisions with obstacles. The only feedback to the control system is a binary-valued external reinforcement signal, which indicates whether or not a collision has occured. A reinforcement learning scheme is used to find a correct mapping from input (sensor) space to output (steering signal) space. An adaptive quantisation scheme is introduced, through which the discrete division of input space is built up from scratch by the system itself. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #340075. 	[Title] Comparison of Kernel Estimators, Perceptrons, and Radial-Basis Functions for OCR and Speech Classification [Abstract] We compare kernel estimators, single and multi-layered perceptrons and radial-basis functions for the problems of classification of handwritten digits and speech phonemes. By taking two different applications and employing many techniques, we report here a two-dimensional study whereby a domain-independent assessment of these learning methods can be possible. We consider a feed-forward network with one hidden layer. As examples of the local methods, we use kernel estimators like k-nearest neighbor (k-nn), Parzen windows, generalized k-nn, and Grow and Learn (Condensed Nearest Neighbor). We have also considered fuzzy k-nn due to its similarity. As distributed networks, we use linear perceptron, pairwise separating linear perceptron, and multilayer perceptrons with sigmoidal hidden units. We also tested the radial-basis function network which is a combination of local and distributed networks. Four criteria are taken for comparison: Correct classification of the test set, network size, learning time, and the operational complexity. We found that perceptrons when the architecture is suitable, generalize better than local, memory-based kernel estimators but require longer training and more precise computation. Local networks are simple, learn very quickly and acceptably, but use more memory. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #7276. 	[Title] Self-Organization and Segmentation in a Laterally Connected Orientation Map of Spiking Neurons [Abstract] The RF-SLISSOM model integrates two separate lines of research on computational modeling of the visual cortex. Laterally connected self-organizing maps have been used to model how afferent structures such as orientation columns and patterned lateral connections can simultaneously self-organize through input-driven Hebbian adaptation. Spiking neurons with leaky integrator synapses have been used to model image segmentation and binding by synchronization and desynchronization of neuronal group activity. Although these approaches differ in how they model the neuron and what they explain, they share the same overall layout of a laterally connected two-dimensional network. This paper shows how both self-organization and segmentation can be achieved in such an integrated network, thus presenting a unified model of development and functional dynamics in the primary visual cortex. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #948846. 	[Title] Limitations of self-organizing maps for vector quantization and multidimensional scaling [Abstract] The limitations of using self-organizing maps (SOM) for either clustering/vector quantization (VQ) or multidimensional scaling (MDS) are being discussed by reviewing recent empirical findings and the relevant theory. SOM's remaining ability of doing both VQ and MDS at the same time is challenged by a new combined technique of online K-means clustering plus Sammon mapping of the cluster centroids. SOM are shown to perform significantly worse in terms of quantization error, in recovering the structure of the clusters and in preserving the topology in a comprehensive empirical study using a series of multivariate normal clustering problems. 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 #1154169. 	[Title]  [Abstract] 11] M.H. Overmars. A random approach to motion planning. Technical Report RUU-CS-92-32, Department of Computer Science, Utrecht University, October 1992. 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 #7297. 	[Title] Self-Organization and Functional Role of Lateral Connections and Multisize Receptive Fields in the Primary Visual Cortex [Abstract] Cells in the visual cortex are selective not only to ocular dominance and orientation of the input, but also to its size and spatial frequency. The simulations reported in this paper show how size selectivity could develop through Hebbian self-organization, and how receptive fields of different sizes could organize into columns like those for orientation and ocular dominance. The lateral connections in the network self-organize cooperatively and simultaneously with the receptive field sizes, and produce patterns of lateral connectivity that closely follow the receptive field organization. Together with our previous work on ocular dominance and orientation selectivity, these results suggest that a single Hebbian self-organizing process can give rise to all the major receptive field properties in the visual cortex, and also to structured patterns of lateral interactions, some of which have been verified experimentally and others predicted by the model. The model also suggests a functional role for the self-organized structures: The afferent receptive fields develop a sparse coding of the visual input, and the recurrent lateral interactions eliminate redundancies in cortical activity patterns, allowing the cortex to efficiently process massive amounts of visual information. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1131647. 	[Title] Connectionist Modeling of the Fast Mapping Phenomenon [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1113739. 	[Title] Decision Tree Function Approximation in Reinforcement Learning [Abstract] We present a decision tree based approach to function approximation in reinforcement learning. We compare our approach with table lookup and a neural network function approximator on three problems: the well known mountain car and pole balance problems as well as a simulated automobile race car. We find that the decision tree can provide better learning performance than the neural network function approximation and can solve large problems that are infeasible using table lookup. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1152143. 	[Title] Is Transfer Inductive? [Abstract] Work is currently underway to devise learning methods which are better able to transfer knowledge from one task to another. The process of knowledge transfer is usually viewed as logically separate from the inductive procedures of ordinary learning. However, this paper argues that this `seperatist' view leads to a number of conceptual difficulties. It offers a task analysis which situates the transfer process inside a generalised inductive protocol. It argues that transfer should be viewed as a subprocess within induction and not as an independent procedure for transporting knowledge between learning trials. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #782486. 	[Title] Living in a partially structured environment: How to bypass the limitations of classical reinforcement techniques [Abstract] In this paper, we propose an unsupervised neural network allowing a robot to learn sensori-motor associations with a delayed reward. The robot task is to learn the "meaning" of pictograms in order to "survive" in a maze. First, we introduce a new neural conditioning rule (PCR: Probabilistic Conditioning Rule) allowing to test hypotheses (associations between visual categories and movements) during a given time span. Second, we describe a real maze experiment with our mobile robot. We propose a neural architecture to solve this problem and we discuss the difficulty to build visual categories dynamically while associating them to movements. Third, we propose to use our algorithm on a simulation in order to test it exhaustively. We give the results for different kind of mazes and we compare our system to an adapted version of the Q-learning algorithm. Finally, we conclude by showing the limitations of approaches that do not take into account the intrinsic complexity of a reasonning based on image recognition. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #853150. 	[Title] LU TP  Pattern Discrimination Using Feed-Forward Networks a Benchmark Study of Scaling Behaviour [Abstract] The discrimination powers of Multilayer perceptron (MLP) and Learning Vector Quantisation (LVQ) networks are compared for overlapping Gaussian distributions. It is shown, both analytically and with Monte Carlo studies, that the MLP network handles high dimensional problems in a more efficient way than LVQ. This is mainly due to the sigmoidal form of the MLP transfer function, but also to the the fact that the MLP uses hyper-planes more efficiently. Both algorithms are equally robust to limited training sets and the learning curves fall off like 1=M, where M is the training set size, which is compared to theoretical predictions from statistical estimates and Vapnik-Chervonenkis bounds. 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 #1105062. 	[Title] LEARNING TO GENERATE ARTIFICIAL FOVEA TRAJECTORIES FOR TARGET DETECTION [Abstract] It is shown how `static' neural approaches to adaptive target detection can be replaced by a more efficient and more sequential alternative. The latter is inspired by the observation that biological systems employ sequential eye-movements for pattern recognition. A system is described which builds an adaptive model of the time-varying inputs of an artificial fovea controlled by an adaptive neural controller. The controller uses the adaptive model for learning the sequential generation of fovea trajectories causing the fovea to move to a target in a visual scene. The system also learns to track moving targets. No teacher provides the desired activations of `eye-muscles' at various times. The only goal information is the shape of the target. Since the task is a `reward-only-at-goal' task , it involves a complex temporal credit assignment problem. Some implications for adaptive attentive systems in general are discussed. 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 #132806. 	[Title] USING MARKER-BASED GENETIC ENCODING OF NEURAL NETWORKS TO EVOLVE FINITE-STATE BEHAVIOUR [Abstract] A new mechanism for genetic encoding of neural networks is proposed, which is loosely based on the marker structure of biological DNA. The mechanism allows all aspects of the network structure, including the number of nodes and their connectivity, to be evolved through genetic algorithms. The effectiveness of the encoding scheme is demonstrated in an object recognition task that requires artificial creatures (whose behaviour is driven by a neural network) to develop high-level finite-state exploration and discrimination strategies. The task requires solving the sensory-motor grounding problem, i.e. developing a functional understanding of the effects that a creature's movement has on its sensory input. 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 #1102550. 	[Title] Culling Teaching -1 Culling and Teaching in Neuro-evolution [Abstract] The evolving population of neural nets contains information not only in terms of genes, but also in the collection of behaviors of the population members. Such information can be thought of as a kind of culture of the population. Two ways of exploiting that culture are explored in this paper: (1) Culling overlarge litters: Generate a large number of offspring with different crossovers, quickly evaluate them by comparing their performance to the population, and throw away those that appear poor. (2) Teaching: Use backpropagation to train offspring toward the performance of the population. Both techniques result in faster, more effective neuro-evolution, and they can be effectively combined, as is demonstrated on the inverted pendulum problem. Additional methods of cultural exploitation are possible and will be studied in future work. These results suggest that cultural exploitation is a powerful idea that allows leveraging several aspects of the genetic algorithm. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #171225. 	[Title] How Lateral Interaction Develops in a Self-Organizing Feature Map [Abstract] A biologically motivated mechanism for self-organizing a neural network with modifiable lateral connections is presented. The weight modification rules are purely activity-dependent, unsupervised and local. The lateral interaction weights are initially random but develop into a "Mexican hat" shape around each neuron. At the same time, the external input weights self-organize to form a topological map of the input space. The algorithm demonstrates how self-organization can bootstrap itself using input information. Predictions of the algorithm agree very well with experimental observations on the development of lateral connections in cortical feature maps. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #157401. 	[Title] Convergence-Zone Episodic Memory: Analysis and Simulations [Abstract] Human episodic memory provides a seemingly unlimited storage for everyday experiences, and a retrieval system that allows us to access the experiences with partial activation of their components. The system is believed to consist of a fast, temporary storage in the hippocampus, and a slow, long-term storage within the neocortex. This paper presents a neural network model of the hippocampal episodic memory inspired by Damasio's idea of Convergence Zones. The model consists of a layer of perceptual feature maps and a binding layer. A perceptual feature pattern is coarse coded in the binding layer, and stored on the weights between layers. A partial activation of the stored features activates the binding pattern, which in turn reactivates the entire stored pattern. For many configurations of the model, a theoretical lower bound for the memory capacity can be derived, and it can be an order of magnitude or higher than the number of all units in the model, and several orders of magnitude higher than the number of binding-layer units. Computational simulations further indicate that the average capacity is an order of magnitude larger than the theoretical lower bound, and making the connectivity between layers sparser causes an even further increase in capacity. Simulations also show that if more descriptive binding patterns are used, the errors tend to be more plausible (patterns are confused with other similar patterns), with a slight cost in capacity. The convergence-zone episodic memory therefore accounts for the immediate storage and associative retrieval capability and large capacity of the hippocampal memory, and shows why the memory encoding areas can be much smaller than the perceptual maps, consist of rather coarse computational units, and be only sparsely connected to the perceptual maps. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1131745. 	[Title] Interactive Segmentation of Three-dimensional Medical Images (Extended abstract) [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #26850. 	[Title] Determining Mental State from EEG Signals Using Parallel Implementations of Neural Networks [Abstract] EEG analysis has played a key role in the modeling of the brain's cortical dynamics, but relatively little effort has been devoted to developing EEG as a limited means of communication. If several mental states can be reliably distinguished by recognizing patterns in EEG, then a paralyzed person could communicate to a device like a wheelchair by composing sequences of these mental states. EEG pattern recognition is a difficult problem and hinges on the success of finding representations of the EEG signals in which the patterns can be distinguished. In this article, we report on a study comparing three EEG representations, the unprocessed signals, a reduced-dimensional representation using the Karhunen-Loeve transform, and a frequency-based representation. Classification is performed with a two-layer neural network implemented on a CNAPS server (128 processor, SIMD architecture) by Adaptive Solutions, Inc.. Execution time comparisons show over a hundred-fold speed up over a Sun Sparc 10. The best classification accuracy on untrained samples is 73% using the frequency-based representation. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1131748. 	[Title] Figure 1: The architecture of a Kohonen network. Each input neuron is fully connected with [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1114352. 	[Title] Cortical Mechanisms of Visual Recognition and Learning: A Hierarchical Kalman Filter Model [Abstract] We describe a biologically plausible model of dynamic recognition and learning in the visual cortex based on the statistical theory of Kalman filtering from optimal control theory. The model utilizes a hierarchical network whose successive levels implement Kalman filters operating over successively larger spatial and temporal scales. Each hierarchical level in the network predicts the current visual recognition state at a lower level and adapts its own recognition state using the residual error between the prediction and the actual lower-level state. Simultaneously, the network also learns an internal model of the spatiotemporal dynamics of the input stream by adapting the synaptic weights at each hierarchical level in order to minimize prediction errors. The Kalman filter model respects key neuroanatomical data such as the reciprocity of connections between visual cortical areas, and assigns specific computational roles to the inter-laminar connections known to exist between neurons in the visual cortex. Previous work elucidated the usefulness of this model in explaining neurophysiological phenomena such as endstopping and other related extra-classical receptive field effects. In this paper, in addition to providing a more detailed exposition of the model, we present a variety of experimental results demonstrating the ability of this model to perform robust spatiotemporal segmentation and recognition of objects and image sequences in the presence of varying amounts of occlusion, background clutter, and noise. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1272. 	[Title] Learning a set of primitive actions with an Induction of decision trees. Machine Learning, 1(1):81-106, [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #949511. 	[Title] Application of Neural Networks for the Classification of Diffuse Liver Disease by Quantitative Echography [Abstract] Three different methods were investigated to determine their ability to detect and classify various categories of diffuse liver disease. A statistical method, i.e., discriminant analysis, a supervised neural network called backpropagation and a nonsupervised, self-organizing feature map were examined. The investigation was performed on the basis of a previously selected set of acoustic and image texture parameters. The limited number of patients was successfully extended by generating additional but independent data with identical statistical properties. The generated data were used for training and test sets. The final test was made with the original patient data as a validation set. It is concluded that neural networks are an attractive alternative to traditional statistical techniques when dealing with medical detection and classification tasks. Moreover, the use of generated data for training the networks and the discriminant classifier has been shown to be justified and profitable. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #90888. 	[Title] GAL: Networks that grow when they learn and shrink when they forget [Abstract] Learning when limited to modification of some parameters has a limited scope; the capability to modify the system structure is also needed to get a wider range of the learnable. In the case of artificial neural networks, learning by iterative adjustment of synaptic weights can only succeed if the network designer predefines an appropriate network structure, i.e., number of hidden layers, units, and the size and shape of their receptive and projective fields. This paper advocates the view that the network structure should not, as usually done, be determined by trial-and-error but should be computed by the learning algorithm. Incremental learning algorithms can modify the network structure by addition and/or removal of units and/or links. A survey of current connectionist literature is given on this line of thought. "Grow and Learn" (GAL) is a new algorithm that learns an association at one-shot due to being incremental and using a local representation. During the so-called "sleep" phase, units that were previously stored but which are no longer necessary due to recent modifications are removed to minimize network complexity. The incrementally constructed network can later be finetuned off-line to improve performance. Another method proposed that greatly increases recognition accuracy is to train a number of networks and vote over their responses. The algorithm and its variants are tested on recognition of handwritten numerals and seem promising especially in terms of learning speed. This makes the algorithm attractive for on-line learning tasks, e.g., in robotics. The biological plausibility of incremental learning is also discussed briefly. Earlier part of this work was realized at the Laboratoire de Microinformatique of Ecole Polytechnique Federale de Lausanne and was supported by the Fonds National Suisse de la Recherche Scientifique. Later part was realized at and supported by the International Computer Science Institute. A number of people helped by guiding, stimulating discussions or questions: Subutai Ahmad, Peter Clarke, Jerry Feldman, Christian Jutten, Pierre Marchal, Jean Daniel Nicoud, Steve Omohondro and Leon Personnaz. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1135368. 	[Title] How Receptive Field Parameters Affect Neural Learning [Abstract] We identify the three principle factors affecting the performance of learning by networks with localized units: unit noise, sample density, and the structure of the target function. We then analyze the effect of unit receptive field parameters on these factors and use this analysis to propose a new learning algorithm which dynamically alters receptive field properties during learning. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #69392. 	[Title] Forecasting electricity demand using nonlinear mixture of experts [Abstract] In this paper we study a forecasting model based on mixture of experts for predicting the French electric daily consumption energy. We split the task into two parts. Using mixture of experts, a first model predicts the electricity demand from the exogenous variables (such as temperature and degree of cloud cover) and can be viewed as a nonlinear regression model of mixture of Gaussians. Using a single neural network, a second model predicts the evolution of the residual error of the first one, and can be viewed as an nonlinear autoregression model. We analyze the splitting of the input space generated by the mixture of experts model, and compare the performance to models presently used. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1114388. 	[Title] There is No Free Lunch but the Starter is Cheap: Generalisation from First Principles [Abstract] According to Wolpert's no-free-lunch (NFL) theorems [1, 2], gener-alisation in the absence of domain knowledge is necessarily a zero-sum enterprise. Good generalisation performance in one situation is always offset by bad performance in another. Wolpert notes that the theorems do not demonstrate that effective generalisation is a logical impossibility but merely that a learner's bias (or assumption set) is of key importance 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 #120084. 	[Title] VISIT: An Efficient Computational Model of Human Visual Attention [Abstract] One of the challenges for models of cognitive phenomena is the development of efficient and exible interfaces between low level sensory information and high level processes. For visual processing, researchers have long argued that an attentional mechanism is required to perform many of the tasks required by high level vision. This thesis presents VISIT, a connectionist model of covert visual attention that has been used as a vehicle for studying this interface. The model is efficient, exible, and is biologically plausible. The complexity of the network is linear in the number of pixels. Effective parallel strategies are used to minimize the number of iterations required. The resulting system is able to efficiently solve two tasks that are particularly difficult for standard bottom-up models of vision: computing spatial relations and visual search. Simulations show that the networks behavior matches much of the known psychophysical data on human visual attention. The general architecture of the model also closely matches the known physiological data on the human attention system. Various extensions to VISIT are discussed, including methods for learning the component modules. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1031453. 	[Title] A Neural Network Pole Balancer that Learns and Operates on a Real Robot in Real Time [Abstract] A neural network approach to the classic inverted pendulum task is presented. This task is the task of keeping a rigid pole, hinged to a cart and free to fall in a plane, in a roughly vertical orientation by moving the cart horizontally in the plane while keeping the cart within some maximum distance of its starting position. This task constitutes a difficult control problem if the parameters of the cart-pole system are not known precisely or are variable. It also forms the basis of an even more complex control-learning problem if the controller must learn the proper actions for successfully balancing the pole given only the current state of the system and a failure signal when the pole angle from the vertical becomes too great or the cart exceeds one of the boundaries placed on its position. The approach presented is demonstrated to be effective for the real-time control of a small, self-contained mini-robot, specially outfitted for the task. Origins and details of the learning scheme, specifics of the mini-robot hardware, and results of actual learning trials are presented. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #950052. 	[Title] IEEE Learning the Semantic Similarity of Reusable Software Components [Abstract] Properly structured software libraries are crucial for the success of software reuse. Specifically, the structure of the software library ought to reect the functional similarity of the stored software components in order to facilitate the retrieval process. We propose the application of artificial neural network technology to achieve such a structured library. In more detail, we utilize an artificial neural network adhering to the unsupervised learning paradigm. The distinctive feature of this very model is to make the semantic relationship between the stored software components geographically explicit. Thus, the actual user of the software library gets a notion of the semantic relationship between the components in terms of their geographical closeness. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1136422. 	[Title] Understanding Musical Sound with Forward Models and Physical Models [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #560936. 	[Title] Monte Carlo Comparison of Non-hierarchical Unsupervised Classifiers [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #85299. 	[Title] LEARNING BY ERROR-DRIVEN DECOMPOSITION [Abstract] In this paper we describe a new selforganizing decomposition technique for learning high-dimensional mappings. Problem decomposition is performed in an error-driven manner, such that the resulting subtasks (patches) are equally well approximated. Our method combines an unsupervised learning scheme (Feature Maps [Koh84]) with a nonlinear approximator (Backpropagation [RHW86]). The resulting learning system is more stable and effective in changing environments than plain backpropagation and much more powerful than extended feature maps as proposed by [RS88, RMS89]. Extensions of our method give rise to active exploration strategies for autonomous agents facing unknown environments. The appropriateness of our general purpose method will be demonstrated with an ex ample from mathematical function approximation. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #22835. 	[Title] A Scalable Performance Prediction Method for Parallel Neural Network Simulations [Abstract] A performance prediction method is presented for indicating the performance range of MIMD parallel processor systems for neural network simulations. The total execution time of a parallel application is modeled as the sum of its calculation and communication times. The method is scalable because based on the times measured on one processor and one communication link, the performance, speedup, and efficiency can be predicted for a larger processor system. It is validated quantitatively by applying it to two popular neural networks, backpropagation and the Kohonen self-organizing feature map, decomposed on a GCel-512, a 512 transputer system. Agreement of the model with the measurements is within 9%. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1152821. 	[Title] Figure 8: time complexity of unit parallelism measured on MANNA theoretical prediction #nodes N time [Abstract] Our experience showed us that exibility in expressing a parallel algorithm for simulating neural networks is desirable even if it is not possible then to obtain the most efficient solution for any single training algorithm. We believe that the advantages of a clear and easy to understand program predominates the disadvantages of approaches allowing only for a specific machine or neural network algorithm. We currently investigate if other neural network models are worth while being parallelized, and how the resulting parallel algorithms can be composed of a few common basic building blocks and the logarithmic tree as efficient communication structure. 1 2 4 8 2 500 connections 40 000 connections [1] D. Ackley, G. Hinton, T. Sejnowski: A Learning Algorithm for Boltzmann Machines, Cognitive Science 9, pp. 147-169, 1985 [2] B. M. Forrest et al.: Implementing Neural Network Models on Parallel Computers, The computer Journal, vol. 30, no. 5, 1987 [3] W. Giloi: Latency Hiding in Message Passing Architectures, International Parallel Processing Symposium, April 1994, Cancun, Mexico, IEEE Computer Society Press [4] T. Nordstrm, B. Svensson: Using And Designing Massively Parallel Computers for Artificial Neural Networks, Journal Of Parallel And Distributed Computing, vol. 14, pp. 260-285, 1992 [5] A. Kramer, A. Vincentelli: Efficient parallel learning algorithms for neural networks, Advances in Neural Information Processing Systems I, D. Touretzky (ed.), pp. 40-48, 1989 [6] T. Kohonen: Self-Organization and Associative Memory, Springer-Verlag, Berlin, 1988 [7] D. A. Pomerleau, G. L. Gusciora, D. L. Touretzky, H. T. Kung: Neural Network Simulation at Warp Speed: How We Got 17 Million Connections Per Second, IEEE Intern. Conf. Neural Networks, July 1988 [8] A. Rbel: Dynamic selection of training patterns for neural networks: A new method to control the generalization, Technical Report 92-39, Technical University of Berlin, 1993 [9] D. E. Rumelhart, D. E. Hinton, R. J. Williams: Learning internal representations by error propagation, Rumelhart & McClelland (eds.), Parallel Distributed Processing: Explorations in the Microstructure of Cognition, vol. I, pp. 318-362, Bradford Books/MIT Press, Cambridge, MA, 1986 [10] W. Schiffmann, M. Joost, R. Werner: Comparison of optimized backpropagation algorithms, Proc. of the European Symposium on Artificial Neural Networks, ESANN '93, Brussels, pp. 97-104, 1993 [11] J. Schmidhuber: Accelerated Learning in BackPropagation Nets, Connectionism in perspective, Elsevier Science Publishers B.V. (North-Holland), pp 439-445,1989 [12] M. Taylor, P. Lisboa (eds.): Techniques and Applications of Neural Networks, Ellis Horwood, 1993 [13] M. Witbrock, M. Zagha: An implementation of backpropagation learning on GF11, a large SIMD parallel computer, Parallel Computing, vol. 14, pp. 329-346, 1990 [14] X. Zhang, M. Mckenna, J. P. Mesirov, D. L. Waltz: The backpropagation algorithm on grid and hypercube architectures, Parallel Computing, vol. 14, pp. 317-327, 1990 Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1136442. 	[Title] Development of triadic neural circuits for visual image stabilization under eye movements [Abstract] Human visual systems maintain a stable internal representation of a scene even though the image on the retina is constantly changing because of eye movements. Such stabilization can theoretically be effected by dynamic shifts in the receptive field (RF) of neurons in the visual system. This paper examines how a neural circuit can learn to generate such shifts. The shifts are controlled by eye position signals and compensate for the movement in the retinal image caused by eye movements. The development of a neural shifter circuit (Olshausen, Anderson, & Van Essen, 1992) is modeled using triadic connections. These connections are gated by signals that indicate the direction of gaze (eye position signals). In simulations, a neural model is exposed to sequences of stimuli paired with appropriate eye position signals. The initially Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #36167. 	[Title] Category: Control, Navigation and Planning Preference: Oral presentation Exploiting Model Uncertainty Estimates for Safe Dynamic [Abstract] Model learning combined with dynamic programming has been shown to be effective for learning control of continuous state dynamic systems. The simplest method assumes the learned model is correct and applies dynamic programming to it, but many approximators provide uncertainty estimates on the fit. How can they be exploited? This paper addresses the case where the system must be prevented from having catastrophic failures during learning. We propose a new algorithm adapted from the dual control literature and use Bayesian locally weighted regression models with stochastic dynamic programming. A common reinforcement learning assumption is that aggressive exploration should be encouraged. This paper addresses the converse case in which the system has to reign in exploration. The algorithm is illustrated on a 4 dimensional simulated control problem. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #49482. 	[Title] Topography And Ocular Dominance: A Model Exploring Positive Correlations [Abstract] The map from eye to brain in vertebrates is topographic, i.e. neighbouring points in the eye map to neighbouring points in the brain. In addition, when two eyes innervate the same target structure, the two sets of fibres segregate to form ocular dominance stripes. Experimental evidence from the frog and goldfish suggests that these two phenomena may be subserved by the same mechanisms. We present a computational model that addresses the formation of both topography and ocular dominance. The model is based on a form of competitive learning with subtractive enforcement of a weight normalization rule. Inputs to the model are distributed patterns of activity presented simultaneously in both eyes. An important aspect of this model is that ocular dominance segregation can occur when the two eyes are positively correlated, whereas previous models have tended to assume zero or negative correlations between the eyes. This allows investigation of the dependence of the pattern of stripes on the degree of correlation between the eyes: we find that increasing correlation leads to narrower stripes. Experiments are suggested to test this prediction. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #340299. 	[Title] Neural Network Applicability: Classifying the Problem Space [Abstract] The tremendous current effort to propose neurally inspired methods of computation forces closer scrutiny of real world application potential of these models. This paper categorizes applications into classes and particularly discusses features of applications which make them efficiently amenable to neural network methods. Computational machines do deterministic mappings of inputs to outputs and many computational mechanisms have been proposed for problem solutions. Neural network features include parallel execution, adaptive learning, generalization, and fault tolerance. Often, much effort is given to a model and applications which can already be implemented in a much more efficient way with an alternate technology. Neural networks are potentially powerful devices for many classes of applications, but not all. However, it is proposed that the class of applications for which neural networks are efficient is both large and commonly occurring in nature. Comparison of supervised, unsupervised, and generalizing systems is also included. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1365. 	[Title] Cholinergic suppression of transmission may allow combined associative memory function and self-organization in the neocortex. [Abstract] Selective suppression of transmission at feedback synapses during learning is proposed as a mechanism for combining associative feedback with self-organization of feedforward synapses. Experimental data demonstrates cholinergic suppression of synaptic transmission in layer I (feedback synapses), and a lack of suppression in layer IV (feed-forward synapses). A network with this feature uses local rules to learn mappings which are not linearly separable. During learning, sensory stimuli and desired response are simultaneously presented as input. Feedforward connections form self-organized representations of input, while suppressed feedback connections learn the transpose of feedfor-ward connectivity. During recall, suppression is removed, sensory input activates the self-organized representation, and activity generates the learned response. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1106287. 	[Title] Separating hippocampal maps  Spatial Functions of the Hippocampal Formation and the [Abstract] The place fields of hippocampal cells in old animals sometimes change when an animal is removed from and then returned to an environment [ Barnes et al., 1997 ] . The ensemble correlation between two sequential visits to the same environment shows a strong bimodality for old animals (near 0, indicative of remapping, and greater than 0.7, indicative of a similar representation between experiences), but a strong unimodality for young animals (greater than 0.7, indicative of a similar representation between experiences). One explanation for this is the multi-map hypothesis in which multiple maps are encoded in the hippocampus: old animals may sometimes be returning to the wrong map. A theory proposed by Samsonovich and McNaughton (1997) suggests that the Barnes et al. experiment implies that the maps are pre-wired in the CA3 region of hippocampus. Here, we offer an alternative explanation in which orthogonalization properties in the dentate gyrus (DG) region of hippocampus interact with errors in self-localization (reset of the path integrator on re-entry into the environment) to produce the bimodality. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #83826. 	[Title] Beyond the Cognitive Map: Contributions to a Computational Neuroscience Theory of Rodent Navigation for the [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #93555. 	[Title] Multiple Network Systems (Minos) Modules: Task Division and Module Discrimination 1 [Abstract] It is widely considered an ultimate connectionist objective to incorporate neural networks into intelligent systems. These systems are intended to possess a varied repertoire of functions enabling adaptable interaction with a non-static environment. The first step in this direction is to develop various neural network algorithms and models, the second step is to combine such networks into a modular structure that might be incorporated into a workable system. In this paper we consider one aspect of the second point, namely: processing reliability and hiding of wetware details. Pre- sented is an architecture for a type of neural expert module, named an Authority. An Authority consists of a number of Minos modules. Each of the Minos modules in an Authority has the same processing capabilities, but varies with respect to its particular specialization to aspects of the problem domain. The Authority employs the collection of Minoses like a panel of experts. The expert with the highest confidence is believed, and it is the answer and confidence quotient that are transmitted to other levels in a system hierarchy. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1132922. 	[Title] Cortical Functionality Emergence:  Self-Organization of Complex Structures: From Individual to Collective Dynamics, [Abstract] General Theory & Quantitative Results Abstract: The human genotype represents at most ten billion binary informations, whereas the human brain contains more than a million times a billion synapses. So a differentiated brain structure is essentially due to self-organization. Such self-organization is relevant for areas ranging from medicine to the design of intelligent complex systems. Many brain structures emerge as collective phenomenon of a microscopic neurosynaptic dynamics: a stochastic dynamics mimics the neuronal action potentials, while the synaptic dynamics is modeled by a local coupling dynamics of type Hebb-rule, that is, a synaptic efficiency increases after coincident spiking of pre- and postsynaptic neuron. The microscopic dynamics is transformed to a collective dynamics reminiscent of hydrodynamics. The theory models empirical findings quantitatively: Topology preserving neuronal maps were assumed by Descartes in 1664; their self-organization was suggested by Weiss in 1928; their empirical observation was reported by Marshall in 1941; it is shown that they are neurosynaptically stable due to ubiquitous infinitesimal short range electrical or chemical leakage. In the visual cortex, neuronal stimulus orientation preference emerges; empirically measured orientation patterns are determined by the Poisson equation of electrostatics; this Poisson equation orientation pattern emergence is derived here. Complex cognitive abilities emerge when the basic local synaptic changes are regulated by valuation, emergent valuation, attention, attention focus or combination of subnetworks. Altogether a general theory is presented for the emergence of functionality from synaptic growth in neuro-biological systems. The theory provides a transformation to a collective dynamics and is used for quantitative modeling of empirical data. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1128839. 	[Title] Requirements and use of neural networks for industrial appli- [Abstract] Modern industry of today needs flexible, adaptive and fault-tolerant methods for information processing. Several applications have shown that neural networks fulfill these requirements. In this paper application areas, in which neural networks have been successfully used, are presented. Then a kind of check list is described, which mentioned the different steps, when applying neural networks. The paper finished with a discussion of some neural networks projects done in the research group Interactive Planning at the Research Center for Computer Science (FZI). Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1113995. 	[Title] Multiassociative Memory [Abstract] This paper discusses the problem of how to implement many-to-many, or multi-associative, mappings within connectionist models. Traditional symbolic approaches wield explicit representation of all alternatives via stored links, or implicitly through enumerative algorithms. Classical pattern association models ignore the issue of generating multiple outputs for a single input pattern, and while recent research on recurrent networks is promising, the field has not clearly focused upon multi-associativity as a goal. In this paper, we define multiassociative memory MM, and several possible variants, and discuss its utility in general cognitive modeling. We extend sequential cascaded networks (Pollack 1987, 1990a) to fit the task, and perform several ini tial experiments which demonstrate the feasibility of the concept. This paper appears in The Proceedings of the Thirteenth Annual Conference of the Cognitive Science Society. August 7-10, 1991. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #23448. 	[Title] Data Exploration Using Self-Organizing Maps [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #188318. 	[Title] Avoiding Overfitting with BP-SOM [Abstract] Overfitting is a well-known problem in the fields of symbolic and connectionist machine learning. It describes the deterioration of gen-eralisation performance of a trained model. In this paper, we investigate the ability of a novel artificial neural network, bp-som, to avoid overfitting. bp-som is a hybrid neural network which combines a multi-layered feed-forward network (mfn) with Kohonen's self-organising maps (soms). During training, supervised back-propagation learning and unsupervised som learning cooperate in finding adequate hidden-layer representations. We show that bp-som outperforms standard backpropagation, and also back-propagation with a weight decay when dealing with the problem of overfitting. In addition, we show that bp-som succeeds in preserving generalisation performance under hidden-unit pruning, where both other methods fail. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1119140. 	[Title] Truth-from-Trash Learning and the Mobot [Abstract] As natural resources become less abundant, we naturally become more interested in, and more adept at utilisation of waste materials. In doing this we are bringing to bear a ploy which is of key importance in learning | or so I argue in this paper. In the `Truth from Trash' model, learning is viewed as a process which uses environmental feedback to assemble fortuitous sensory predispositions (sensory `trash') into useful, information vehicles, i.e., `truthful' indicators of salient phenomena. The main aim will be to show how a computer implementation of the model has been used to enhance (through learning) the strategic abilities of a simulated, football playing mobot. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #293285. 	[Title] Why Experimentation can be better than "Perfect Guidance" [Abstract] Many problems correspond to the classical control task of determining the appropriate control action to take, given some (sequence of) observations. One standard approach to learning these control rules, called behavior cloning, involves watching a perfect operator operate a plant, and then trying to emulate its behavior. In the experimental learning approach, by contrast, the learner first guesses an initial operation-to-action policy and tries it out. If this policy performs sub-optimally, the learner can modify it to produce a new policy, and recur. This paper discusses the relative effectiveness of these two approaches, especially in the presence of perceptual aliasing, showing in particular that the experimental learner can often learn more effectively than the cloning one. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #330148. 	[Title] SCRIPT RECOGNITION WITH HIERARCHICAL FEATURE MAPS [Abstract] The hierarchical feature map system recognizes an input story as an instance of a particular script by classifying it at three levels: scripts, tracks and role bindings. The recognition taxonomy, i.e. the breakdown of each script into the tracks and roles, is extracted automatically and independently for each script from examples of script instantiations in an unsupervised self-organizing process. The process resembles human learning in that the differentiation of the most frequently encountered scripts become gradually the most detailed. The resulting structure is a hierachical pyramid of feature maps. The hierarchy visualizes the taxonomy and the maps lay out the topology of each level. The number of input lines and the self-organization time are considerably reduced compared to the ordinary single-level feature mapping. The system can recognize incomplete stories and recover the missing events. The taxonomy also serves as memory organization for script-based episodic memory. The maps assign a unique memory location for each script instantiation. The most salient parts of the input data are separated and most resources are concentrated on representing them accurately. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1132968. 	[Title] Local Feature Analysis: A general statistical theory for object representation [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1116594. 	[Title] ASOCS: A Multilayered Connectionist Network with Guaranteed Learning of Arbitrary Mappings [Abstract] This paper reviews features of a new class of multilayer connectionist architectures known as ASOCS (Adaptive Self-Organizing Concurrent Systems). ASOCS is similar to most decision-making neural network models in that it attempts to learn an adaptive set of arbitrary vector mappings. However, it differs dramatically in its mechanisms. ASOCS is based on networks of adaptive digital elements which self-modify using local information. Function specification is entered incrementally by use of rules, rather than complete input-output vectors, such that a processing network is able to extract critical features from a large environment and give output in a parallel fashion. Learning also uses parallelism and self-organization such that a new rule is completely learned in time linear with the depth of the network. The model guarantees learning of any arbitrary mapping of boolean input-output vectors. The model is also stable in that learning does not erase any previously learned mappings except those explicitly contradicted. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #77758. 	[Title] Parzen. On estimation of a probability density function and mode. Annual Mathematical Statistics, 33:1065-1076, 1962. [Abstract] To apply the algorithm for classification we assign each class a separate set of codebook Gaussians. Each set is only trained with patterns from a single class. After having trained the codebook Gaussians, each set provides an estimate of the probability function of one class; just as with Parzen window estimation, we take as the estimate of the pattern distribution the average of all Gaussians in the set. Classification of a pattern may now be done by calculating the probability of each class at the respective sample point, and assigning to the pattern the class with the highest probability. Hence the whole codebook plays a role in the classification of patterns. This is not the case with regular classification schemes using codebooks. We have tested the classification scheme on several classification tasks including the two spiral problem. We compared our algorithm to various other classification algorithms and it came out second; the best algorithm for the applications is the Parzen window estimation. However, the computing time and memory for Parzen window estimation are excessive when compared to our algorithm, and hence, in practical situations, our algorithm is to be preferred. We have developed a fast algorithm which combines attractive properties of both Parzen window estimation and vector quantization. The scale parameter is tuned adaptively and, therefore, is not set in an ad hoc manner. It allows a classification strategy in which all the codebook vectors are taken into account. This yields better results than the standard vector quantization techniques. An interesting topic for further research is to use radially non-symmetric Gaussians. 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 #562123. 	[Title] Comparison of Bayesian and Neural Net Unsupervised Classification Techniques [Abstract] Unsupervised classification is the classification of data into a number of classes in such a way that data in each class are all similar to each other. In the past there have been few if any studies done to compare the performance of different unsupervised classification techniques. In this paper we review Bayesian and neural net approaches to unsupervised classification and present results of experiments that we did to compare Autoclass, a Bayesian classification system, and ART2, a neural net classification algorithm. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #23502. 	[Title] Dyslexic and Category-Specific Aphasic Impairments in a Self-Organizing Feature Map Model of the Lexicon [Abstract] DISLEX is an artificial neural network model of the mental lexicon. It was built to test com-putationally whether the lexicon could consist of separate feature maps for the different lexical modalities and the lexical semantics, connected with ordered pathways. In the model, the orthographic, phonological, and semantic feature maps and the associations between them are formed in an unsupervised process, based on cooccurrence of the lexical symbol and its meaning. After the model is organized, various damage to the lexical system can be simulated, resulting in dyslexic and category-specific aphasic impairments similar to those observed in human patients. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #237521. 	[Title] Competitive Anti-Hebbian Learning of Invariants [Abstract] Although the detection of invariant structure in a given set of input patterns is vital to many recognition tasks, connectionist learning rules tend to focus on directions of high variance (principal components). The prediction paradigm is often used to reconcile this dichotomy; here we suggest a more direct approach to invariant learning based on an anti-Hebbian learning rule. An unsupervised two-layer network implementing this method in a competitive setting learns to extract coherent depth information from random-dot stereograms. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1120211. 	[Title] The Role of Constraints in Hebbian Learning [Abstract] Models of unsupervised correlation-based (Hebbian) synaptic plasticity are typically unstable: either all synapses grow until each reaches the maximum allowed strength, or all synapses decay to zero strength. A common method of avoiding these outcomes is to use a constraint that conserves or limits the total synaptic strength over a cell. We study the dynamical effects of such constraints. Two methods of enforcing a constraint are distinguished, multiplicative and subtractive. For otherwise linear learning rules, multiplicative enforcement of a constraint results in dynamics that converge to the principal eigenvector of the operator determining unconstrained synaptic development. Subtractive enforcement, in contrast, typically leads to a final state in which almost all synaptic strengths reach either the maximum or minimum allowed value. This final state is often dominated by weight configurations other than the principal eigenvector of the unconstrained operator. Multiplicative enforcement yields a "graded" receptive field in which most mutually correlated inputs are represented, whereas subtractive enforcement yields a receptive field that is "sharpened" to a subset of maximally-correlated inputs. If two equivalent input populations (e.g. two eyes) innervate a common target, multiplicative enforcement prevents their segregation (ocular dominance segregation) when the two populations are weakly correlated; whereas subtractive enforcement allows segregation under these circumstances. These results may be used to understand constraints both over output cells and over input cells. A variety of rules that can implement constrained dynamics are discussed. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #23507. 	[Title] Natural Language Processing with Subsymbolic Neural Networks [Abstract]  Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1117653. 	[Title] Associative memory using action potential timing [Abstract] The dynamics and collective properties of feedback networks with spiking neurons are investigated. Special emphasis is given to the potential computational role of subthreshold oscillations. It is shown that model systems with integrate-and-fire neurons can function as associative memories on two distinct levels. On the first level, binary patterns are represented by the spike activity | "to fire or not to fire." On the second level, analog patterns are encoded in the relative firing times between individual spikes or between spikes and an underlying subthreshold oscillation. Both coding schemes may coexist within the same network. The results suggest that cortical neurons may perform a broad spectrum of associative computations far beyond the scope of the traditional firing-rate picture. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1110998. 	[Title] Interpretable Neural Networks with BP-SOM [Abstract] Interpretation of models induced by artificial neural networks is often a difficult task. In this paper we focus on a relatively novel neural network architecture and learning algorithm, bp-som, that offers possibilities to overcome this difficulty. It is shown that networks trained with bp-som show interesting regularities, in that hidden-unit activations become restricted to discrete values, and that the som part can be exploited for automatic rule extraction. 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 #1110494. 	[Title] Measuring Organization and Asymmetry in Bihemispheric Topographic Maps [Abstract] We address the problem of measuring the degree of hemispheric organization and asymmetry of organization in a computational model of a bihemispheric cerebral cortex. A theoretical framework for such measures is developed and used to produce algorithms for measuring the degree of organization, symmetry, and lateralization in topographic map formation. The performance of the resulting measures is tested for several topographic maps obtained by self-organization of an initially random network, and the results are compared with subjective assessments made by humans. It is found that the closest agreement with the human assessments is obtained by using organization measures based on sigmoid-type error averaging. Measures are developed which correct for large constant displacements as well as curving of the hemispheric topographic maps. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #39904. 	[Title] Performance of the GCel-512 and PowerXPlorer for parallel neural network simulations [Abstract] This report presents new results from work performed in the framework of the IC 3 A pro-gramme. Using the GCel-512 and the PowerXPlorer made available by the UvA, a performance prediction model for several neural network simulations could be validated quantitatively both for a larger processor grid and for a different target parallel processor configuration. The performance prediction model and its application on a popular neural network model | backpropagation | decomposed via network decomposition will be discussed here. Using the model, the suitability of the GCel-512 and PowerXPlorer are discussed in terms of performance, speedup, efficiency and scalability. Please summarise all the given information.

Above are papers related to the following paper: [Paper_ID] Paper #1129443. 	[Title] Characterising Innateness in Artificial and Natural Learning [Abstract] The purpose of this paper is to propose a refinement of the notion of innateness. If we merely identify innateness with bias, then we obtain a poor characterisation of this notion, since any learning device relies on a bias that makes it choose a given hypothesis instead of another. We show that our intuition of innateness is better captured by a characteristic of bias, related to isotropy. Generalist models of learning are shown to rely on an isotropic bias, whereas the bias of specialised models, which include some specific a priori knowledge about what is to be learned, is necessarily anisotropic. The socalled generalist models, however, turn out to be specialised in some way: they learn symmetrical forms preferentially, and have strictly no deficiencies in their learning ability. Because some learning beings do not always show these two properties, such generalist models may be sometimes ruled out as bad candidates for cognitive modelling. 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 #1114605. 	[Title] EEG Signal Classification with Different Signal Representations  for a large number of hidden units. [Abstract] If several mental states can be reliably distinguished by recognizing patterns in EEG, then a paralyzed person could communicate to a device like a wheelchair by composing sequencesof these mental states. In this article, we report on a study comparing four representations of EEG signals and their classification by a two-layer neural network with sigmoid activation functions. The neural network is implemented on a CNAPS server (128 processor, SIMD architecture) by Adaptive Solutions, Inc., gaining a 100-fold decrease in training time over a Sun Please summarise all the given information.

Paper #628500 has the title `LEARNING TO AVOID COLLISIONS: A REINFORCEMENT LEARNING PARADIGM FOR MOBILE ROBOT NAVIGATION  
` and the abstract `The paper describes a self-learning control system for a mobile robot. Based on sensor information the control system has to provide a steering signal in such a way that collisions are avoided. Since in our case no `examples' are available, the system learns on the basis of an external reinforcement signal which is negative in case of a collision and zero otherwise. We describe the adaptive algorithm which is used for a discrete coding of the state space, and the adaptive algorithm for learning the correct mapping from the input (state) vector to the output (steering) signal. 
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Question: Which category should Paper #628500 be classified as ?
You can select one from ['Neural_Networks', 'Case_Based', 'Theory', 'Reinforcement_Learning', 'Probabilistic_Methods', 'Rule_Learning', 'Genetic_Algorithms'].


Paper #628500 has the title `LEARNING TO AVOID COLLISIONS: A REINFORCEMENT LEARNING PARADIGM FOR MOBILE ROBOT NAVIGATION  
` and the abstract `The paper describes a self-learning control system for a mobile robot. Based on sensor information the control system has to provide a steering signal in such a way that collisions are avoided. Since in our case no `examples' are available, the system learns on the basis of an external reinforcement signal which is negative in case of a collision and zero otherwise. We describe the adaptive algorithm which is used for a discrete coding of the state space, and the adaptive algorithm for learning the correct mapping from the input (state) vector to the output (steering) signal. 
`.
Question: Which category should Paper #628500 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