The controllers usually have no or only very little prior knowledge of the environment. While only local communication between controllers is allowed, the controllers must cooperate among themselves to achieve the common, global objective. Finding the optimal routing policy in such a distributed manner is very difficult. Moreover, since the environment is non-stationary, the optimal policy varies with time as a result of changes in network traffic and topology.

We report on the development of the modular neural system "SEE EAGLE" for the visual guidance of robot pick-and-place actions. Several neural networks are integrated to a single system that visually recognizes human hand pointing gestures from stereo pairs of color video images. The output of the hand recognition stage is processed by a set of color-sensitive neural networks to determine the cartesian location of the target object that is referenced by the pointing gesture. Finally, this information is used to guide a robot to grab the target object and put it at another location that can be specified by a second pointing gesture. The accuracy of the current system allows to identify the location of the referenced target object to an accuracy of 1 cm in a workspace area of 50x50 cm.

Our research works towards this broad goal from a Machine Learning perspective. We are particularly interested in investigating how an intelligent agent can choose an action in an adversarial environment. We assume that the agent has a specific goal to achieve. We conduct this investigation in a framework where teams of agents compete in a game of robotic soccer. The real system of model cars remotely controlled from off-board computers is under development.

In natural contexts, visual object recognition in humans is remarkably fast, reliable, and viewpoint invariant. The present approach to object recognition is "view-based" (e.g.

We have developed a foveated gesture recognition system that runs in an unconstrained office environment with an active camera. Using vision routines previously implemented for an interactive environment, we determine the spatial location of salient body parts of a user and guide an active camera to obtain images of gestures or expressions. A hidden-state reinforcement learning paradigm is used to implement visual attention. The attention module selects targets to foveate based on the goal of successful recognition, and uses a new multiple-model Q-Iearning formulation. Given a set of target and distractor gestures, our system can learn where to foveate to maximally discriminate a particular gesture. 1 INTRODUCTION Vision has numerous uses in the natural world.

Completely parallel object recognition is NPcomplete. Achieving a recognizer with feasible complexity requires a compromise between parallel and sequential processing where a system selectively focuses on parts of a given image, one after another. Successive fixations are generated to sample the image and these samples are processed and abstracted to generate a temporal context in which results are integrated over time. A computational model based on a partially recurrent feedforward network is proposed and made credible by testing on the real-world problem of recognition of handwritten digits with encouraging results.

A new online learning algorithm which minimizes a statistical dependency among outputs is derived for blind separation of mixed signals. The dependency is measured by the average mutual information (MI) of the outputs. The source signals and the mixing matrix are unknown except for the number of the sources. The Gram-Charlier expansion instead of the Edgeworth expansion is used in evaluating the MI. The natural gradient approach is used to minimize the MI. A novel activation function is proposed for the online learning algorithm which has an equivariant property and is easily implemented on a neural network like model. The validity of the new learning algorithm are verified by computer simulations.

A method for incorporating context-dependent phone classes in a connectionist-HMM hybrid speech recognition system is introduced. A modular approach is adopted, where single-layer networks discriminate between different context classes given the phone class and the acoustic data. The context networks are combined with a context-independent (CI) network to generate context-dependent (CD) phone probability estimates. Experiments show an average reduction in word error rate of 16% and 13% from the CI system on ARPA 5,000 word and SQALE 20,000 word tasks respectively. Due to improved modelling, the decoding speed of the CD system is more than twice as fast as the CI system.

The lateral connections learn the correlations of activity between units on the map. The resulting excitatory connections focus the activity into local patches and the inhibitory connections decorrelate redundant activity on the map. The map thus forms internal representations that are easy to recognize with e.g. a perceptron network. The recognition rate on a subset of NIST database 3 is 4.0% higher with LISSOM than with a regular Self-Organizing Map (SOM) as the front end, and 15.8% higher than recognition of raw input bitmaps directly. These results form a promising starting point for building pattern recognition systems with a LISSOM map as a front end. 1 Introduction Handwritten digit recognition has become one of the touchstone problems in neural networks recently.

The wake-sleep algorithm (Hinton, Dayan, Frey and Neal 1995) is a relatively efficient method of fitting a multilayer stochastic generative model to high-dimensional data. In addition to the top-down connections in the generative model, it makes use of bottom-up connections for approximating the probability distribution over the hidden units given the data, and it trains these bottom-up connections using a simple delta rule. We use a variety of synthetic and real data sets to compare the performance of the wake-sleep algorithm with Monte Carlo and mean field methods for fitting the same generative model and also compare it with other models that are less powerful but easier to fit. 1 INTRODUCTION Neural networks are often used as bottom-up recognition devices that transform input vectors into representations of those vectors in one or more hidden layers. But multilayer networks of stochastic neurons can also be used as top-down generative models that produce patterns with complicated correlational structure in the bottom visible layer. In this paper we consider generative models composed of layers of stochastic binary logistic units. Given a generative model parameterized by top-down weights, there is an obvious way to perform unsupervised learning. The generative weights are adjusted to maximize the probability that the visible vectors generated by the model would match the observed data.