Partially Observable Markov Decision Processes (pO"MOPs) constitute an important class of reinforcement learning problems which present unique theoretical and computational difficulties. In the absence of the Markov property, popular reinforcement learning algorithms such as Q-Iearning may no longer be effective, and memory-based methods which remove partial observability via state-estimation are notoriously expensive. An alternative approach is to seek a stochastic memoryless policy which for each observation of the environment prescribes a probability distribution over available actions that maximizes the average reward per timestep. A reinforcement learning algorithm which learns a locally optimal stochastic memoryless policy has been proposed by Jaakkola, Singh and Jordan, but not empirically verified. We present a variation of this algorithm, discuss its implementation, and demonstrate its viability using four test problems.

Two developments of nonlinear latent variable models based on radial basis functions are discussed: in the first, the use of priors or constraints on allowable models is considered as a means of preserving data structure in low-dimensional representations for visualisation purposes. Also, a resampling approach is introduced which makes more effective use of the latent samples in evaluating the likelihood.

We describe Maximum-Likelihood Continuity Mapping (MALCOM), an alternative to hidden Markov models (HMMs) for processing sequence data such as speech. While HMMs have a discrete "hidden" space constrained bya fixed finite-automaton architecture, MALCOM has a continuous hidden space-a continuity map-that is constrained only by a smoothness requirement on paths through the space. MALCOM fits into the same probabilistic framework for speech recognition as HMMs, but it represents a more realistic model of the speech production process. To evaluate the extent to which MALCOM captures speech production information, we generated continuous speech continuity maps for three speakers and used the paths through them to predict measured speech articulator data. The median correlation between the MALCOM paths obtained from only the speech acoustics and articulator measurements was 0.77 on an independent test set not used to train MALCOM or the predictor.

Lateral competition within a layer of neurons sharpens and localizes the response to an input stimulus. Here, we investigate a model for the activity dependentdevelopment of ocular dominance maps which allows to vary the degree of lateral competition. For weak competition, it resembles acorrelation-based learning model and for strong competition, it becomes a self-organizing map. Thus, in the regime of weak competition thereceptive fields are shaped by the second order statistics of the input patterns, whereas in the regime of strong competition, the higher moments and "features" of the individual patterns become important. When correlated localized stimuli from two eyes drive the cortical development wefind (i) that a topographic map and binocular, localized receptive fields emerge when the degree of competition exceeds a critical value and (ii) that receptive fields exhibit eye dominance beyond a second criticalvalue. For anti-correlated activity between the eyes, the second orderstatistics drive the system to develop ocular dominance even for weak competition, but no topography emerges. Topography is established onlybeyond a critical degree of competition.

Since every electrode is in a different position it will measure a different contribution from each of the different neurons. Simply stated, the problem is this: how can these complex signals be untangled to determine when each individual cell fired? This problem is difficult because, a) the objects being classified are very similar and often noisy, b) spikes coming from the same cell can ·Permanent address: Institute of Computer Science and Center for Neural Computation, TheHebrew University, Jerusalem, Israel.

We seek the scene interpretation that best explains image data. For example, we may want to infer the projected velocities (scene) which best explain two consecutive image frames (image).

In 1986, Tanner and Mead [1] implemented an interesting constraint satisfaction circuitfor global motion sensing in aVLSI. We report here a new and improved aVLSI implementation that provides smooth optical flow as well as global motion in a two dimensional visual field. The computation ofoptical flow is an ill-posed problem, which expresses itself as the aperture problem. However, the optical flow can be estimated by the use of regularization methods, in which additional constraints are introduced interms of a global energy functional that must be minimized. We show how the algorithmic constraints of Hom and Schunck [2] on computing smoothoptical flow can be mapped onto the physical constraints of an equivalent electronic network.

Gaussian Processes provide good prior models for spatial data, but can be too smooth. In many physical situations there are discontinuities along bounding surfaces, for example fronts in near-surface wind fields. We describe a modelling method for such a constrained discontinuity and demonstrate how to infer the model parameters in wind fields with MCMC sampling.

Here we derive measures quantifying the information loss of a synaptic signal due to the presence of neuronal noise sources, as it electrotonically propagates along a weakly-active dendrite. We model the dendrite as an infinite linear cable, with noise sources distributed along its length. The noise sources we consider are thermal noise, channel noise arising from the stochastic nature of voltage-dependent ionic channels (K and Na) and synaptic noise due to spontaneous background activity. We assess the efficacy of information transfer using a signal detection paradigm where the objective is to detect the presence/absence of a presynaptic spike from the post-synaptic membrane voltage. This allows us to analytically assess the role of each of these noise sources in information transfer. For our choice of parameters, we find that the synaptic noise is the dominant noise source which limits the maximum length over which information be reliably transmitted. 1 Introduction This is a continuation of our efforts (Manwani and Koch, 1998) to understand the information capacityofa neuronal link (in terms of the specific nature of neural "hardware") by a systematic study of information processing at different biophysical stages in a model of a single neuron. Here we investigate how the presence of neuronal noise sources influences the information transmission capabilities of a simplified model of a weakly-active dendrite. The noise sources we include are, thermal noise, channel noise arising from the stochastic nature of voltage-dependent channels (K and Na) and synaptic noise due to spontaneous background activity. We characterize the noise sources using analytical expressions of their current power spectral densities and compare their magnitudes for dendritic parameters reported inliterature (Mainen and Sejnowski, 1998).

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