Neural Dynamics and Reinforcement Learning
|
|
- Natalie Peters
- 6 years ago
- Views:
Transcription
1 Neural Dynamics and Reinforcement Learning Presented By: Matthew Luciw DFT SUMMER SCHOOL, 2013 IDSIA Istituto Dalle Molle Di Studi sull Intelligenza Artificiale
2 IDSIA Lugano, Switzerland Our Lab s Director: Juergen Schmidhuber -Cognitive robotics, robot learning, universal search and learning algorithms, Kolmogorov complexity, algorithmic probability, Speed Prior, minimal description length, generalization and data compression, recurrent neural networks, financial forecasting with low-complexity nets, independent component analysis, low-complexity codes, reinforcement learning in partially observable environments, adaptive subgoal generation, multiagent learning, artificial evolution, probabilistic program evolution, automatic music composition, metalearning, self-modifying policies, Gödel machines, low-complexity art, theories of interestingness and beauty-
3 Motivation How do we learn sequences of behavior, to achieve goals, in the DFT framework? How are these sequences learned from delayed rewards? How do sequences of these behaviors emerge as an agent autonomously explores its environment?
4 Reinforcement Environment state / situation s t reward r t AGENT action a t r t+1 ENVIRONMENT s t+1
5 Reinforcement Learning Basics Agent in situation s t chooses action a t Outcome: new situation s t+1 Agent perceives situation s t+1 and reward r t+1 Policy: law of how the agent acts Reinforcement learning is both improving the policy and selecting actions to provide experience stream (history) s 0 a 0 s 1 r 1 a 1 s 2 r 2 a 2 Goal: produce history to maximize sum of r i
6 Reinforcement Learning: What We Need 1. What is the learner s internal state? e.g., state values, state-action values Needs states and actions to be defined 2. How does the agent sense the world state? Sensors? Features? 3. How are possible actions evaluated? e.g., state-action values, one-step state predictor and state values 4. How are possible actions chosen? policy exploration method 5. How are the actions executed? e.g., low-level controllers 6. How is the internal state updated? e.g., value iteration, Q-learning, SARSA
7 Color Hue IDSIA Elementary Behaviors for RL (Example: Find Color) Sensory Input Perceptual Field Activity Perceptual Field Output Current Intention: Green Preshape Pixel Column Motor Field Intention Nodes Heading Direction Motors EBs cover #2 - how does the agent sense the world state?, and #5 how are the actions executed? CoS node
8 Learner s Internal State Value Function Value function predicts reward, estimates total future reward given a course of action State values (γ is a discount factor) State-action values Learner estimates values from experience
9 Elementary Behaviors can function as States for an RL system Discretize the continuous world
10 Behavior Chaining Functionally a deterministic state transition Lets add multiple outcome EBs, and (possibly multiple) ways to select one of them
11 Adaptive Value Nodes for Policy Learning IDSIA Intention Nodes CoS Nodes Value Nodes Perceptual Field Output Greedy policy execution becomes: for the previously completed EB, select the intention of the next most valuable EB this encodes a sequence of EBs
12 Adaptive Value Nodes for Policy Learning IDSIA Intention Nodes CoS Nodes Value Nodes Perceptual Field Output This covers #1 what is the internal state of the learner? and #3 how are possible actions evaluated?
13 Learning the Policy IDSIA In RL, we re generally trying to learn an optimal policy If we know the dynamics of the environment and the reward function (together: the model), we can use dynamic programming to get Dynamics of environment: Reward function:
14 Temporal Difference Learning IDSIA We can learn an optimal policy without learning the model with model-free methods These learn directly (on-line) from experience Update estimate of V(s) after visiting state s
15 Our DFT TD-Learning Algorithm DN-SARSA(λ) combines: a process description of DFT to allow operation in real-time, continuous environments, with RL algorithm SARSA(λ) to enable agent to learn sequences of behaviors that lead to reward Deals with #6 how is the internal state updated?
16 SARSA(λ) TD Algorithm DN-SARSA(λ) Dynamic Neural-SARSA(λ)
17 DN-SARSA(λ) Architecture Value opposition field is where the TD-error calculation lives Eligibility trace - this particular implementation uses Item and Order working memory (Sohrob) Transient pulse cells do state transition signaling and memory of last stateaction
18 Avg.TD Eror Cumulative Reward IDSIA Epuck in a Color Sequence Learning Task Four EBs Find Blue Explore 2. Find Red Time Step [S 3. Find Yellow (b) 4. Find Purple (a) Explore Error Measurem
19 The Eligibility Trace is Important for sequence learning
20 ~~ The Tree of Life ~~ α A B C D A B C D A B C D A B C D A B C D all possible histories Ω
21 Somewhere, A Reward C D +100!
22 What Caused It? C D +100! C D +0
23 Memory Capacity Can Matter! A B C D +100!
24 Memory Capacity Can Matter! A B REINFORCED C D +100!
25 Memory Capacity Can Matter! A B B A REINFORCED NOPE C C D +100! D +0
26 Grid World Analogy
27 Grid World Analogy
28 Grid World Analogy
29 The Eligibility Trace is Essential for our system But the length of sequences it can learn is limited Note: if a sequence is very long, you couldn t learn it either
30 Avg.TD Eror Cumulative Reward IDSIA Epuck in a Color Sequence Learning Task Four EBs Find Blue Explore 2. Find Red Time Step [S 3. Find Yellow (b) 4. Find Purple (a) Explore Error Measurem
31 One Last Thing: Policy Iteration IDSIA More than TD value updates are needed to achieve This constitutes policy evaluation prediction of return for some policy But we will only learn the values of the policy through which the agent is sampling the stateaction space Policy improvement change policy to increase prediction of return Need to interleave policy evaluation and policy improvement to get Epsilon greedy - More random exploration early, (hopefully) mostly exploitation later
32 Avg.TD Eror Cumulative Reward Cumulative Reward Time Step IDSIA Should have used e-greedy!!! Exploit Plots 5 x Time When Correct Sequence Learned Explore Time Step [S * 32] x 10 4 (b) x Run # (c) Sequence Finding Difficulty(Run 6) 2 0 Explore Error Measurements (d) Exploit Time Step [S * 32] x 10 4 (e)
33 Dynamics of Behavioral Transitions
34 Simulated Environment: Exploration Video See Demo Material
35 Sequence Learned Transferred to THE REAL WORLD Video See Demo Material
36 Different Agent+Environment
37 Start Possible Transitions Reward if A-> B-> C -> D -> E Search (A) Grab (C) Transp. (D) Approach (B) Drop (E) FAIL
38 Goal Sequence Video See Demo Material
39 Learning the Sequence (Now with E-Greedy!) Video See Demo Material
40 Exploration Mishaps Video See Demo Material
41 Exploration Mishaps Video See Demo Material
42 Exploration Mishaps Video See Demo Material
43 Nao Experiment Boris Duran, Gauss Lee, Robert Lowe
44 Motivation Dynamic Field Theory Behavioral Organization in DFT SARSA / DN-SARSA Conclusion
45 Video See Demo Material
46 Video See Demo Material
47 Conclusions Reinforcement Learning can enable Neural Dynamics models to autonomously learn rewarding behavioral sequences There are some limitations of the current method
48 References Kazerounian*, S., Luciw*, M., Richter, M., Sandamirskaya, Y. (2013). Autonomous Reinforcement of Behavioral Sequences in Neural Dynamics. Proceedings of the International Joint Conference on Neural Networks (IJCNN). Duran, B., Lee, G., Lowe, R. (2013), Learning a DFT-Based Sequence with Reinforcement Learning: A NAO Implementation. PALADYN Journal of Behavioral Robotics. Sandamirskaya, Y., Richter, M., Schöner, G. (2011). A Neural-Dynamic Architecture for Behavioral Organization of an Embodied Agent. Proceedings of the International Conference on Development and Learning (ICDL). Sutton, R.S., Barto, A. G. (1998). Reinforcement Learning: An Introduction. Material from:
Lecture 10: Reinforcement Learning
Lecture 1: Reinforcement Learning Cognitive Systems II - Machine Learning SS 25 Part III: Learning Programs and Strategies Q Learning, Dynamic Programming Lecture 1: Reinforcement Learning p. Motivation
More informationReinforcement Learning by Comparing Immediate Reward
Reinforcement Learning by Comparing Immediate Reward Punit Pandey DeepshikhaPandey Dr. Shishir Kumar Abstract This paper introduces an approach to Reinforcement Learning Algorithm by comparing their immediate
More informationContinual Curiosity-Driven Skill Acquisition from High-Dimensional Video Inputs for Humanoid Robots
Continual Curiosity-Driven Skill Acquisition from High-Dimensional Video Inputs for Humanoid Robots Varun Raj Kompella, Marijn Stollenga, Matthew Luciw, Juergen Schmidhuber The Swiss AI Lab IDSIA, USI
More informationAxiom 2013 Team Description Paper
Axiom 2013 Team Description Paper Mohammad Ghazanfari, S Omid Shirkhorshidi, Farbod Samsamipour, Hossein Rahmatizadeh Zagheli, Mohammad Mahdavi, Payam Mohajeri, S Abbas Alamolhoda Robotics Scientific Association
More informationLaboratorio di Intelligenza Artificiale e Robotica
Laboratorio di Intelligenza Artificiale e Robotica A.A. 2008-2009 Outline 2 Machine Learning Unsupervised Learning Supervised Learning Reinforcement Learning Genetic Algorithms Genetics-Based Machine Learning
More informationISFA2008U_120 A SCHEDULING REINFORCEMENT LEARNING ALGORITHM
Proceedings of 28 ISFA 28 International Symposium on Flexible Automation Atlanta, GA, USA June 23-26, 28 ISFA28U_12 A SCHEDULING REINFORCEMENT LEARNING ALGORITHM Amit Gil, Helman Stern, Yael Edan, and
More informationExploration. CS : Deep Reinforcement Learning Sergey Levine
Exploration CS 294-112: Deep Reinforcement Learning Sergey Levine Class Notes 1. Homework 4 due on Wednesday 2. Project proposal feedback sent Today s Lecture 1. What is exploration? Why is it a problem?
More informationModule 12. Machine Learning. Version 2 CSE IIT, Kharagpur
Module 12 Machine Learning 12.1 Instructional Objective The students should understand the concept of learning systems Students should learn about different aspects of a learning system Students should
More informationTD(λ) and Q-Learning Based Ludo Players
TD(λ) and Q-Learning Based Ludo Players Majed Alhajry, Faisal Alvi, Member, IEEE and Moataz Ahmed Abstract Reinforcement learning is a popular machine learning technique whose inherent self-learning ability
More informationAMULTIAGENT system [1] can be defined as a group of
156 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS PART C: APPLICATIONS AND REVIEWS, VOL. 38, NO. 2, MARCH 2008 A Comprehensive Survey of Multiagent Reinforcement Learning Lucian Buşoniu, Robert Babuška,
More informationSeminar - Organic Computing
Seminar - Organic Computing Self-Organisation of OC-Systems Markus Franke 25.01.2006 Typeset by FoilTEX Timetable 1. Overview 2. Characteristics of SO-Systems 3. Concern with Nature 4. Design-Concepts
More informationLaboratorio di Intelligenza Artificiale e Robotica
Laboratorio di Intelligenza Artificiale e Robotica A.A. 2008-2009 Outline 2 Machine Learning Unsupervised Learning Supervised Learning Reinforcement Learning Genetic Algorithms Genetics-Based Machine Learning
More informationArtificial Neural Networks written examination
1 (8) Institutionen för informationsteknologi Olle Gällmo Universitetsadjunkt Adress: Lägerhyddsvägen 2 Box 337 751 05 Uppsala Artificial Neural Networks written examination Monday, May 15, 2006 9 00-14
More informationA Reinforcement Learning Variant for Control Scheduling
A Reinforcement Learning Variant for Control Scheduling Aloke Guha Honeywell Sensor and System Development Center 3660 Technology Drive Minneapolis MN 55417 Abstract We present an algorithm based on reinforcement
More informationHigh-level Reinforcement Learning in Strategy Games
High-level Reinforcement Learning in Strategy Games Christopher Amato Department of Computer Science University of Massachusetts Amherst, MA 01003 USA camato@cs.umass.edu Guy Shani Department of Computer
More informationSpeeding Up Reinforcement Learning with Behavior Transfer
Speeding Up Reinforcement Learning with Behavior Transfer Matthew E. Taylor and Peter Stone Department of Computer Sciences The University of Texas at Austin Austin, Texas 78712-1188 {mtaylor, pstone}@cs.utexas.edu
More informationLearning Prospective Robot Behavior
Learning Prospective Robot Behavior Shichao Ou and Rod Grupen Laboratory for Perceptual Robotics Computer Science Department University of Massachusetts Amherst {chao,grupen}@cs.umass.edu Abstract This
More informationGeorgetown University at TREC 2017 Dynamic Domain Track
Georgetown University at TREC 2017 Dynamic Domain Track Zhiwen Tang Georgetown University zt79@georgetown.edu Grace Hui Yang Georgetown University huiyang@cs.georgetown.edu Abstract TREC Dynamic Domain
More informationRobot Shaping: Developing Autonomous Agents through Learning*
TO APPEAR IN ARTIFICIAL INTELLIGENCE JOURNAL ROBOT SHAPING 2 1. Introduction Robot Shaping: Developing Autonomous Agents through Learning* Marco Dorigo # Marco Colombetti + INTERNATIONAL COMPUTER SCIENCE
More informationLEGO MINDSTORMS Education EV3 Coding Activities
LEGO MINDSTORMS Education EV3 Coding Activities s t e e h s k r o W t n e d Stu LEGOeducation.com/MINDSTORMS Contents ACTIVITY 1 Performing a Three Point Turn 3-6 ACTIVITY 2 Written Instructions for a
More informationThe Evolution of Random Phenomena
The Evolution of Random Phenomena A Look at Markov Chains Glen Wang glenw@uchicago.edu Splash! Chicago: Winter Cascade 2012 Lecture 1: What is Randomness? What is randomness? Can you think of some examples
More informationImproving Action Selection in MDP s via Knowledge Transfer
In Proc. 20th National Conference on Artificial Intelligence (AAAI-05), July 9 13, 2005, Pittsburgh, USA. Improving Action Selection in MDP s via Knowledge Transfer Alexander A. Sherstov and Peter Stone
More informationReinForest: Multi-Domain Dialogue Management Using Hierarchical Policies and Knowledge Ontology
ReinForest: Multi-Domain Dialogue Management Using Hierarchical Policies and Knowledge Ontology Tiancheng Zhao CMU-LTI-16-006 Language Technologies Institute School of Computer Science Carnegie Mellon
More informationAn OO Framework for building Intelligence and Learning properties in Software Agents
An OO Framework for building Intelligence and Learning properties in Software Agents José A. R. P. Sardinha, Ruy L. Milidiú, Carlos J. P. Lucena, Patrick Paranhos Abstract Software agents are defined as
More informationXXII BrainStorming Day
UNIVERSITA DEGLI STUDI DI CATANIA FACOLTA DI INGEGNERIA PhD course in Electronics, Automation and Control of Complex Systems - XXV Cycle DIPARTIMENTO DI INGEGNERIA ELETTRICA ELETTRONICA E INFORMATICA XXII
More informationPython Machine Learning
Python Machine Learning Unlock deeper insights into machine learning with this vital guide to cuttingedge predictive analytics Sebastian Raschka [ PUBLISHING 1 open source I community experience distilled
More informationDOCTOR OF PHILOSOPHY HANDBOOK
University of Virginia Department of Systems and Information Engineering DOCTOR OF PHILOSOPHY HANDBOOK 1. Program Description 2. Degree Requirements 3. Advisory Committee 4. Plan of Study 5. Comprehensive
More informationLearning Methods for Fuzzy Systems
Learning Methods for Fuzzy Systems Rudolf Kruse and Andreas Nürnberger Department of Computer Science, University of Magdeburg Universitätsplatz, D-396 Magdeburg, Germany Phone : +49.39.67.876, Fax : +49.39.67.8
More informationOn the Combined Behavior of Autonomous Resource Management Agents
On the Combined Behavior of Autonomous Resource Management Agents Siri Fagernes 1 and Alva L. Couch 2 1 Faculty of Engineering Oslo University College Oslo, Norway siri.fagernes@iu.hio.no 2 Computer Science
More informationEvolutive Neural Net Fuzzy Filtering: Basic Description
Journal of Intelligent Learning Systems and Applications, 2010, 2: 12-18 doi:10.4236/jilsa.2010.21002 Published Online February 2010 (http://www.scirp.org/journal/jilsa) Evolutive Neural Net Fuzzy Filtering:
More informationChallenges in Deep Reinforcement Learning. Sergey Levine UC Berkeley
Challenges in Deep Reinforcement Learning Sergey Levine UC Berkeley Discuss some recent work in deep reinforcement learning Present a few major challenges Show some of our recent work toward tackling
More informationOPTIMIZATINON OF TRAINING SETS FOR HEBBIAN-LEARNING- BASED CLASSIFIERS
OPTIMIZATINON OF TRAINING SETS FOR HEBBIAN-LEARNING- BASED CLASSIFIERS Václav Kocian, Eva Volná, Michal Janošek, Martin Kotyrba University of Ostrava Department of Informatics and Computers Dvořákova 7,
More informationArtificial Neural Networks
Artificial Neural Networks Andres Chavez Math 382/L T/Th 2:00-3:40 April 13, 2010 Chavez2 Abstract The main interest of this paper is Artificial Neural Networks (ANNs). A brief history of the development
More informationChapter 2. Intelligent Agents. Outline. Agents and environments. Rationality. PEAS (Performance measure, Environment, Actuators, Sensors)
Intelligent Agents Chapter 2 1 Outline Agents and environments Rationality PEAS (Performance measure, Environment, Actuators, Sensors) Agent types 2 Agents and environments sensors environment percepts
More informationIntroduction to Simulation
Introduction to Simulation Spring 2010 Dr. Louis Luangkesorn University of Pittsburgh January 19, 2010 Dr. Louis Luangkesorn ( University of Pittsburgh ) Introduction to Simulation January 19, 2010 1 /
More informationSAM - Sensors, Actuators and Microcontrollers in Mobile Robots
Coordinating unit: Teaching unit: Academic year: Degree: ECTS credits: 2017 230 - ETSETB - Barcelona School of Telecommunications Engineering 710 - EEL - Department of Electronic Engineering BACHELOR'S
More informationarxiv: v1 [cs.cv] 10 May 2017
Inferring and Executing Programs for Visual Reasoning Justin Johnson 1 Bharath Hariharan 2 Laurens van der Maaten 2 Judy Hoffman 1 Li Fei-Fei 1 C. Lawrence Zitnick 2 Ross Girshick 2 1 Stanford University
More informationEVOLVING POLICIES TO SOLVE THE RUBIK S CUBE: EXPERIMENTS WITH IDEAL AND APPROXIMATE PERFORMANCE FUNCTIONS
EVOLVING POLICIES TO SOLVE THE RUBIK S CUBE: EXPERIMENTS WITH IDEAL AND APPROXIMATE PERFORMANCE FUNCTIONS by Robert Smith Submitted in partial fulfillment of the requirements for the degree of Master of
More informationRobot Learning Simultaneously a Task and How to Interpret Human Instructions
Robot Learning Simultaneously a Task and How to Interpret Human Instructions Jonathan Grizou, Manuel Lopes, Pierre-Yves Oudeyer To cite this version: Jonathan Grizou, Manuel Lopes, Pierre-Yves Oudeyer.
More informationFramewise Phoneme Classification with Bidirectional LSTM and Other Neural Network Architectures
Framewise Phoneme Classification with Bidirectional LSTM and Other Neural Network Architectures Alex Graves and Jürgen Schmidhuber IDSIA, Galleria 2, 6928 Manno-Lugano, Switzerland TU Munich, Boltzmannstr.
More informationSurprise-Based Learning for Autonomous Systems
Surprise-Based Learning for Autonomous Systems Nadeesha Ranasinghe and Wei-Min Shen ABSTRACT Dealing with unexpected situations is a key challenge faced by autonomous robots. This paper describes a promising
More informationLecture 6: Applications
Lecture 6: Applications Michael L. Littman Rutgers University Department of Computer Science Rutgers Laboratory for Real-Life Reinforcement Learning What is RL? Branch of machine learning concerned with
More informationINPE São José dos Campos
INPE-5479 PRE/1778 MONLINEAR ASPECTS OF DATA INTEGRATION FOR LAND COVER CLASSIFICATION IN A NEDRAL NETWORK ENVIRONNENT Maria Suelena S. Barros Valter Rodrigues INPE São José dos Campos 1993 SECRETARIA
More informationAGENDA LEARNING THEORIES LEARNING THEORIES. Advanced Learning Theories 2/22/2016
AGENDA Advanced Learning Theories Alejandra J. Magana, Ph.D. admagana@purdue.edu Introduction to Learning Theories Role of Learning Theories and Frameworks Learning Design Research Design Dual Coding Theory
More informationLearning Optimal Dialogue Strategies: A Case Study of a Spoken Dialogue Agent for
Learning Optimal Dialogue Strategies: A Case Study of a Spoken Dialogue Agent for Email Marilyn A. Walker Jeanne C. Fromer Shrikanth Narayanan walker@research.att.com jeannie@ai.mit.edu shri@research.att.com
More informationCarter M. Mast. Participants: Peter Mackenzie-Helnwein, Pedro Arduino, and Greg Miller. 6 th MPM Workshop Albuquerque, New Mexico August 9-10, 2010
Representing Arbitrary Bounding Surfaces in the Material Point Method Carter M. Mast 6 th MPM Workshop Albuquerque, New Mexico August 9-10, 2010 Participants: Peter Mackenzie-Helnwein, Pedro Arduino, and
More informationTransfer Learning Action Models by Measuring the Similarity of Different Domains
Transfer Learning Action Models by Measuring the Similarity of Different Domains Hankui Zhuo 1, Qiang Yang 2, and Lei Li 1 1 Software Research Institute, Sun Yat-sen University, Guangzhou, China. zhuohank@gmail.com,lnslilei@mail.sysu.edu.cn
More informationTesting A Moving Target: How Do We Test Machine Learning Systems? Peter Varhol Technology Strategy Research, USA
Testing A Moving Target: How Do We Test Machine Learning Systems? Peter Varhol Technology Strategy Research, USA Testing a Moving Target How Do We Test Machine Learning Systems? Peter Varhol, Technology
More informationENME 605 Advanced Control Systems, Fall 2015 Department of Mechanical Engineering
ENME 605 Advanced Control Systems, Fall 2015 Department of Mechanical Engineering Lecture Details Instructor Course Objectives Tuesday and Thursday, 4:00 pm to 5:15 pm Information Technology and Engineering
More informationLearning and Transferring Relational Instance-Based Policies
Learning and Transferring Relational Instance-Based Policies Rocío García-Durán, Fernando Fernández y Daniel Borrajo Universidad Carlos III de Madrid Avda de la Universidad 30, 28911-Leganés (Madrid),
More informationUsing focal point learning to improve human machine tacit coordination
DOI 10.1007/s10458-010-9126-5 Using focal point learning to improve human machine tacit coordination InonZuckerman SaritKraus Jeffrey S. Rosenschein The Author(s) 2010 Abstract We consider an automated
More informationProposal of Pattern Recognition as a necessary and sufficient principle to Cognitive Science
Proposal of Pattern Recognition as a necessary and sufficient principle to Cognitive Science Gilberto de Paiva Sao Paulo Brazil (May 2011) gilbertodpaiva@gmail.com Abstract. Despite the prevalence of the
More information(Sub)Gradient Descent
(Sub)Gradient Descent CMSC 422 MARINE CARPUAT marine@cs.umd.edu Figures credit: Piyush Rai Logistics Midterm is on Thursday 3/24 during class time closed book/internet/etc, one page of notes. will include
More informationMultiagent Simulation of Learning Environments
Multiagent Simulation of Learning Environments Elizabeth Sklar and Mathew Davies Dept of Computer Science Columbia University New York, NY 10027 USA sklar,mdavies@cs.columbia.edu ABSTRACT One of the key
More informationFF+FPG: Guiding a Policy-Gradient Planner
FF+FPG: Guiding a Policy-Gradient Planner Olivier Buffet LAAS-CNRS University of Toulouse Toulouse, France firstname.lastname@laas.fr Douglas Aberdeen National ICT australia & The Australian National University
More informationMaster s Programme in Computer, Communication and Information Sciences, Study guide , ELEC Majors
Master s Programme in Computer, Communication and Information Sciences, Study guide 2015-2016, ELEC Majors Sisällysluettelo PS=pääsivu, AS=alasivu PS: 1 Acoustics and Audio Technology... 4 Objectives...
More informationCS Machine Learning
CS 478 - Machine Learning Projects Data Representation Basic testing and evaluation schemes CS 478 Data and Testing 1 Programming Issues l Program in any platform you want l Realize that you will be doing
More informationLearning to Schedule Straight-Line Code
Learning to Schedule Straight-Line Code Eliot Moss, Paul Utgoff, John Cavazos Doina Precup, Darko Stefanović Dept. of Comp. Sci., Univ. of Mass. Amherst, MA 01003 Carla Brodley, David Scheeff Sch. of Elec.
More informationSARDNET: A Self-Organizing Feature Map for Sequences
SARDNET: A Self-Organizing Feature Map for Sequences Daniel L. James and Risto Miikkulainen Department of Computer Sciences The University of Texas at Austin Austin, TX 78712 dljames,risto~cs.utexas.edu
More informationAutomatic Discretization of Actions and States in Monte-Carlo Tree Search
Automatic Discretization of Actions and States in Monte-Carlo Tree Search Guy Van den Broeck 1 and Kurt Driessens 2 1 Katholieke Universiteit Leuven, Department of Computer Science, Leuven, Belgium guy.vandenbroeck@cs.kuleuven.be
More informationCSL465/603 - Machine Learning
CSL465/603 - Machine Learning Fall 2016 Narayanan C Krishnan ckn@iitrpr.ac.in Introduction CSL465/603 - Machine Learning 1 Administrative Trivia Course Structure 3-0-2 Lecture Timings Monday 9.55-10.45am
More informationTeachable Robots: Understanding Human Teaching Behavior to Build More Effective Robot Learners
Teachable Robots: Understanding Human Teaching Behavior to Build More Effective Robot Learners Andrea L. Thomaz and Cynthia Breazeal Abstract While Reinforcement Learning (RL) is not traditionally designed
More informationCase Acquisition Strategies for Case-Based Reasoning in Real-Time Strategy Games
Proceedings of the Twenty-Fifth International Florida Artificial Intelligence Research Society Conference Case Acquisition Strategies for Case-Based Reasoning in Real-Time Strategy Games Santiago Ontañón
More informationUniversity of Victoria School of Exercise Science, Physical and Health Education EPHE 245 MOTOR LEARNING. Calendar Description Units: 1.
University of Victoria School of Exercise Science, Physical and Health Education EPHE 245 MOTOR LEARNING Calendar Description Units: 1.5 Hours: 3-2 Neural and cognitive processes underlying human skilled
More informationPlanning with External Events
94 Planning with External Events Jim Blythe School of Computer Science Carnegie Mellon University Pittsburgh, PA 15213 blythe@cs.cmu.edu Abstract I describe a planning methodology for domains with uncertainty
More informationEvolution of Symbolisation in Chimpanzees and Neural Nets
Evolution of Symbolisation in Chimpanzees and Neural Nets Angelo Cangelosi Centre for Neural and Adaptive Systems University of Plymouth (UK) a.cangelosi@plymouth.ac.uk Introduction Animal communication
More informationRegret-based Reward Elicitation for Markov Decision Processes
444 REGAN & BOUTILIER UAI 2009 Regret-based Reward Elicitation for Markov Decision Processes Kevin Regan Department of Computer Science University of Toronto Toronto, ON, CANADA kmregan@cs.toronto.edu
More informationAI Agent for Ice Hockey Atari 2600
AI Agent for Ice Hockey Atari 2600 Emman Kabaghe (emmank@stanford.edu) Rajarshi Roy (rroy@stanford.edu) 1 Introduction In the reinforcement learning (RL) problem an agent autonomously learns a behavior
More informationAgents and environments. Intelligent Agents. Reminders. Vacuum-cleaner world. Outline. A vacuum-cleaner agent. Chapter 2 Actuators
s and environments Percepts Intelligent s? Chapter 2 Actions s include humans, robots, softbots, thermostats, etc. The agent function maps from percept histories to actions: f : P A The agent program runs
More informationGenerative models and adversarial training
Day 4 Lecture 1 Generative models and adversarial training Kevin McGuinness kevin.mcguinness@dcu.ie Research Fellow Insight Centre for Data Analytics Dublin City University What is a generative model?
More informationTOKEN-BASED APPROACH FOR SCALABLE TEAM COORDINATION. by Yang Xu PhD of Information Sciences
TOKEN-BASED APPROACH FOR SCALABLE TEAM COORDINATION by Yang Xu PhD of Information Sciences Submitted to the Graduate Faculty of in partial fulfillment of the requirements for the degree of Doctor of Philosophy
More informationLecture 2: Quantifiers and Approximation
Lecture 2: Quantifiers and Approximation Case study: Most vs More than half Jakub Szymanik Outline Number Sense Approximate Number Sense Approximating most Superlative Meaning of most What About Counting?
More informationAn Embodied Model for Sensorimotor Grounding and Grounding Transfer: Experiments With Epigenetic Robots
Cognitive Science 30 (2006) 673 689 Copyright 2006 Cognitive Science Society, Inc. All rights reserved. An Embodied Model for Sensorimotor Grounding and Grounding Transfer: Experiments With Epigenetic
More informationBuilding A Baby. Paul R. Cohen, Tim Oates, Marc S. Atkin Department of Computer Science
Building A Baby Paul R. Cohen, Tim Oates, Marc S. Atkin Department of Computer Science Carole R. Beal Department of Psychology University of Massachusetts, Amherst, MA 01003 cohen@cs.umass.edu Abstract
More informationA Case-Based Approach To Imitation Learning in Robotic Agents
A Case-Based Approach To Imitation Learning in Robotic Agents Tesca Fitzgerald, Ashok Goel School of Interactive Computing Georgia Institute of Technology, Atlanta, GA 30332, USA {tesca.fitzgerald,goel}@cc.gatech.edu
More informationMachine Learning from Garden Path Sentences: The Application of Computational Linguistics
Machine Learning from Garden Path Sentences: The Application of Computational Linguistics http://dx.doi.org/10.3991/ijet.v9i6.4109 J.L. Du 1, P.F. Yu 1 and M.L. Li 2 1 Guangdong University of Foreign Studies,
More informationLecture 1: Machine Learning Basics
1/69 Lecture 1: Machine Learning Basics Ali Harakeh University of Waterloo WAVE Lab ali.harakeh@uwaterloo.ca May 1, 2017 2/69 Overview 1 Learning Algorithms 2 Capacity, Overfitting, and Underfitting 3
More informationContents. Foreword... 5
Contents Foreword... 5 Chapter 1: Addition Within 0-10 Introduction... 6 Two Groups and a Total... 10 Learn Symbols + and =... 13 Addition Practice... 15 Which is More?... 17 Missing Items... 19 Sums with
More informationIntroduction to Ensemble Learning Featuring Successes in the Netflix Prize Competition
Introduction to Ensemble Learning Featuring Successes in the Netflix Prize Competition Todd Holloway Two Lecture Series for B551 November 20 & 27, 2007 Indiana University Outline Introduction Bias and
More informationOn Human Computer Interaction, HCI. Dr. Saif al Zahir Electrical and Computer Engineering Department UBC
On Human Computer Interaction, HCI Dr. Saif al Zahir Electrical and Computer Engineering Department UBC Human Computer Interaction HCI HCI is the study of people, computer technology, and the ways these
More informationSoftprop: Softmax Neural Network Backpropagation Learning
Softprop: Softmax Neural Networ Bacpropagation Learning Michael Rimer Computer Science Department Brigham Young University Provo, UT 84602, USA E-mail: mrimer@axon.cs.byu.edu Tony Martinez Computer Science
More informationWhile you are waiting... socrative.com, room number SIMLANG2016
While you are waiting... socrative.com, room number SIMLANG2016 Simulating Language Lecture 4: When will optimal signalling evolve? Simon Kirby simon@ling.ed.ac.uk T H E U N I V E R S I T Y O H F R G E
More informationACTL5103 Stochastic Modelling For Actuaries. Course Outline Semester 2, 2014
UNSW Australia Business School School of Risk and Actuarial Studies ACTL5103 Stochastic Modelling For Actuaries Course Outline Semester 2, 2014 Part A: Course-Specific Information Please consult Part B
More informationKnowledge-Based - Systems
Knowledge-Based - Systems ; Rajendra Arvind Akerkar Chairman, Technomathematics Research Foundation and Senior Researcher, Western Norway Research institute Priti Srinivas Sajja Sardar Patel University
More informationTask Completion Transfer Learning for Reward Inference
Machine Learning for Interactive Systems: Papers from the AAAI-14 Workshop Task Completion Transfer Learning for Reward Inference Layla El Asri 1,2, Romain Laroche 1, Olivier Pietquin 3 1 Orange Labs,
More informationSummary / Response. Karl Smith, Accelerations Educational Software. Page 1 of 8
Summary / Response This is a study of 2 autistic students to see if they can generalize what they learn on the DT Trainer to their physical world. One student did automatically generalize and the other
More informationCircuit Simulators: A Revolutionary E-Learning Platform
Circuit Simulators: A Revolutionary E-Learning Platform Mahi Itagi Padre Conceicao College of Engineering, Verna, Goa, India. itagimahi@gmail.com Akhil Deshpande Gogte Institute of Technology, Udyambag,
More informationA Neural Network GUI Tested on Text-To-Phoneme Mapping
A Neural Network GUI Tested on Text-To-Phoneme Mapping MAARTEN TROMPPER Universiteit Utrecht m.f.a.trompper@students.uu.nl Abstract Text-to-phoneme (T2P) mapping is a necessary step in any speech synthesis
More informationECE-492 SENIOR ADVANCED DESIGN PROJECT
ECE-492 SENIOR ADVANCED DESIGN PROJECT Meeting #3 1 ECE-492 Meeting#3 Q1: Who is not on a team? Q2: Which students/teams still did not select a topic? 2 ENGINEERING DESIGN You have studied a great deal
More informationWHAT ARE VIRTUAL MANIPULATIVES?
by SCOTT PIERSON AA, Community College of the Air Force, 1992 BS, Eastern Connecticut State University, 2010 A VIRTUAL MANIPULATIVES PROJECT SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR TECHNOLOGY
More informationLiquid Narrative Group Technical Report Number
http://liquidnarrative.csc.ncsu.edu/pubs/tr04-004.pdf NC STATE UNIVERSITY_ Liquid Narrative Group Technical Report Number 04-004 Equivalence between Narrative Mediation and Branching Story Graphs Mark
More informationInteraction Design Considerations for an Aircraft Carrier Deck Agent-based Simulation
Interaction Design Considerations for an Aircraft Carrier Deck Agent-based Simulation Miles Aubert (919) 619-5078 Miles.Aubert@duke. edu Weston Ross (505) 385-5867 Weston.Ross@duke. edu Steven Mazzari
More informationRadius STEM Readiness TM
Curriculum Guide Radius STEM Readiness TM While today s teens are surrounded by technology, we face a stark and imminent shortage of graduates pursuing careers in Science, Technology, Engineering, and
More informationIntelligent Agents. Chapter 2. Chapter 2 1
Intelligent Agents Chapter 2 Chapter 2 1 Outline Agents and environments Rationality PEAS (Performance measure, Environment, Actuators, Sensors) Environment types The structure of agents Chapter 2 2 Agents
More informationMYCIN. The MYCIN Task
MYCIN Developed at Stanford University in 1972 Regarded as the first true expert system Assists physicians in the treatment of blood infections Many revisions and extensions over the years The MYCIN Task
More informationModerator: Gary Weckman Ohio University USA
Moderator: Gary Weckman Ohio University USA Robustness in Real-time Complex Systems What is complexity? Interactions? Defy understanding? What is robustness? Predictable performance? Ability to absorb
More informationA Context-Driven Use Case Creation Process for Specifying Automotive Driver Assistance Systems
A Context-Driven Use Case Creation Process for Specifying Automotive Driver Assistance Systems Hannes Omasreiter, Eduard Metzker DaimlerChrysler AG Research Information and Communication Postfach 23 60
More informationTABLE OF CONTENTS TABLE OF CONTENTS COVER PAGE HALAMAN PENGESAHAN PERNYATAAN NASKAH SOAL TUGAS AKHIR ACKNOWLEDGEMENT FOREWORD
TABLE OF CONTENTS TABLE OF CONTENTS COVER PAGE HALAMAN PENGESAHAN PERNYATAAN NASKAH SOAL TUGAS AKHIR ACKNOWLEDGEMENT FOREWORD TABLE OF CONTENTS LIST OF FIGURES LIST OF TABLES LIST OF APPENDICES LIST OF
More informationThe SWARM-BOTS Project
The SWARM-BOTS Project Marco Dorigo 1, Elio Tuci 1,RoderichGroß 1, Vito Trianni 1, Thomas Halva Labella 1, Shervin Nouyan 1,ChristosAmpatzis 1, Jean-Louis Deneubourg 2, Gianluca Baldassarre 3,StefanoNolfi
More informationMachine Learning and Data Mining. Ensembles of Learners. Prof. Alexander Ihler
Machine Learning and Data Mining Ensembles of Learners Prof. Alexander Ihler Ensemble methods Why learn one classifier when you can learn many? Ensemble: combine many predictors (Weighted) combina
More information