The recursive least-squares (RLS) algorithm is one of the most well-known algorithms used in adaptive filtering, system identification and adaptive control. Its popularity is mainly due to its fast convergence speed, which is considered to be optimal in practice. In this paper, RLS methods are used to solve reinforcement learning problems, where two new reinforcement learning algorithms using linear value function approximators are proposed and analyzed. The two algorithms are called RLS-TD(lambda) and Fast-AHC (Fast Adaptive Heuristic Critic), respectively. RLS-TD(lambda) can be viewed as the extension of RLS-TD(0) from lambda=0 to general lambda within interval [0,1], so it is a multi-step temporal-difference (TD) learning algorithm using RLS methods. The convergence with probability one and the limit of convergence of RLS-TD(lambda) are proved for ergodic Markov chains. Compared to the existing LS-TD(lambda) algorithm, RLS-TD(lambda) has advantages in computation and is more suitable for online learning. The effectiveness of RLS-TD(lambda) is analyzed and verified by learning prediction experiments of Markov chains with a wide range of parameter settings. The Fast-AHC algorithm is derived by applying the proposed RLS-TD(lambda) algorithm in the critic network of the adaptive heuristic critic method. Unlike conventional AHC algorithm, Fast-AHC makes use of RLS methods to improve the learning-prediction efficiency in the critic. Learning control experiments of the cart-pole balancing and the acrobot swing-up problems are conducted to compare the data efficiency of Fast-AHC with conventional AHC. From the experimental results, it is shown that the data efficiency of learning control can also be improved by using RLS methods in the learning-prediction process of the critic. The performance of Fast-AHC is also compared with that of the AHC method using LS-TD(lambda). Furthermore, it is demonstrated in the experiments that different initial values of the variance matrix in RLS-TD(lambda) are required to get better performance not only in learning prediction but also in learning control. The experimental results are analyzed based on the existing theoretical work on the transient phase of forgetting factor RLS methods.

RoboCup-2001 was the Fifth International RoboCup Competition and Conference. It was held for the first time in the United States, following RoboCup-2000 in Melbourne, Australia; RoboCup-99 in Stockholm; RoboCup-98 in Paris; and RoboCup-97 in Osaka. This article discusses in detail each one of the events at RoboCup-2001, focusing on the competition leagues.

(IKS 2002).

In this paper we will discuss a variational mean-field theory and its application to BNs, sigmoidal BNs in particular. We present a variational derivation of the mean-field theory, proposed by Plefka[2].

Algebraic geometry is essential to learning theory. In hierarchical learning machines such as layered neural networks and gaussian mixtures, the asymptotic normality does not hold, since Fisher information matrices are singular. In this paper, the rigorous asymptotic form of the stochastic complexity is clarified based on resolution of singularities and two different problems are studied.

Two avenues will be explored: the first is to maximize the ()-average divergence between the class densities and the second is to minimize the union Bhattacharyya bound in the range of (). While both approaches yield similar performance in practice, they outperform standard LDA features and show a 10% relative improvement in the word error rate over state-of-the-art cepstral features on a large vocabulary telephony speech recognition task. 1 Introduction Modern speech recognition systems use cepstral features characterizing the short-term spectrum of the speech signal for classifying frames into phonetic classes. These features are augmented with dynamic information from the adjacent frames to capture transient spectral events in the signal.

We introduce a novel algorithm, termed PPA (Performance Prediction Algorithm), that quantitatively measures the contributions of elements of a neural system to the tasks it performs. The algorithm identifies the neurons or areas which participate in a cognitive or behavioral task, given data about performance decrease in a small set of lesions. It also allows the accurate prediction of performances due to multi-element lesions. The effectiveness of the new algorithm is demonstrated in two models of recurrent neural networks with complex interactions among the elements. The algorithm is scalable and applicable to the analysis of large neural networks. Given the recent advances in reversible inactivation techniques, it has the potential to significantly contribute to the understanding of the organization of biological nervous systems, and to shed light on the long-lasting debate about local versus distributed computation in the brain.

This basic question in the theory of knowledge seems to be beyond the scope of experimental investigation. An accessible version of this question is whether different observers of the same sense data have the same neural representation of these data: how much of the neural code is universal, and how much is individual? Differences in the neural codes of different individuals may arise from various sources: First, different individuals may use different'vocabularies' of coding symbols. Second, they may use the same symbols to encode different stimulus features. Third, they may have different latencies, so they'say' the same things at slightly different times.

We analyze Gallager codes by employing a simple mean-field approximation that distorts the model geometry and preserves important interactions between sites. The method naturally recovers the probability propagation decoding algorithm as an extremization of a proper free-energy. We find a thermodynamic phase transition that coincides with information theoretical upper-bounds and explain the practical code performance in terms of the free-energy landscape.

It should be stressed that in our model information is coded in the non-stationary rates that underlie the input spike trains. As these rates are not observable, any learning must depends on the observable input spikes that realize those underlying rates.