Parti-game is a new algorithm for learning from delayed rewards in high dimensional real-valued state-spaces. In high dimensions it is essential that learning does not explore or plan over state space uniformly. Part i-game maintains a decision-tree partitioning of state-space and applies game-theory and computational geometry techniques to efficiently and reactively concentrate high resolution only on critical areas. Many simulated problems have been tested, ranging from 2-dimensional to 9-dimensional state-spaces, including mazes, path planning, nonlinear dynamics, and uncurling snake robots in restricted spaces. In all cases, a good solution is found in less than twenty trials and a few minutes. 1 REINFORCEMENT LEARNING Reinforcement learning [Samuel, 1959, Sutton, 1984, Watkins, 1989, Barto et al., 1991] is a promising method for control systems to program and improve themselves.

Survival is enhanced by an ability to predict the availability of food, the likelihood of predators, and the presence of mates. We present a concrete model that uses diffuse neurotransmitter systems to implement a predictive version of a Hebb learning rule embedded in a neural architecture based on anatomical and physiological studies on bees. The model captured the strategies seen in the behavior of bees and a number of other animals when foraging in an uncertain environment. The predictive model suggests a unified way in which neuromodulatory influences can be used to bias actions and control synaptic plasticity. Successful predictions enhance adaptive behavior by allowing organisms to prepare for future actions, rewards, or punishments. Moreover, it is possible to improve upon behavioral choices if the consequences of executing different actions can be reliably predicted. Although classical and instrumental conditioning results from the psychological literature [1] demonstrate that the vertebrate brain is capable of reliable prediction, how these predictions are computed in brains is not yet known. The brains of vertebrates and invertebrates possess small nuclei which project axons throughout large expanses of target tissue and deliver various neurotransmitters such as dopamine, norepinephrine, and acetylcholine [4]. The activity in these systems may report on reinforcing stimuli in the world or may reflect an expectation of future reward [5, 6,7,8].

A variant of the encoder architecture, where units at the input and output layers represent nodes on a graph.

Model-based object recognition solves the problem of invariant recognition by relying on stored prototypes at unit scale positioned at the origin of an object-centered coordinate system. Elastic matching techniques are used to find a correspondence between features of the stored model and the data and can also compute the parameters of the transformation the observed instance has undergone relative to the stored model.

Consider the problem of learning input/output mappings through exploration, e.g.

The first class of network adaptation algorithms start out with a redundant architecture and proceed by pruning away seemingly unimportant weights (Sietsma and Dow, 1988; Le Cun et aI, 1990). A second class of algorithms starts off with a sparse architecture and grows the network to the complexity required by the problem. Several algorithms have been proposed for growing feedforward networks. The upstart algorithm of Frean (1990) and the cascade-correlation algorithm of Fahlman (1990) are examples of this approach.

A simple model of coupled dynamics of fast neurons and slow interactions, modelling self-organization in recurrent neural networks, leads naturally to an effective statistical mechanics characterized by a partition function which is an average over a replicated system. This is reminiscent of the replica trick used to study spin-glasses, but with the difference that the number of replicas has a physical meaning as the ratio of two temperatures and can be varied throughout the whole range of real values. The model has interesting phase consequences as a function of varying this ratio and external stimuli, and can be extended to a range of other models. As the basic archetypal model we consider a system of Ising spin neurons (J'i E {-I, I}, i E {I,..., N}, interacting via continuous-valued symmetric interactions, Iij, which themselves evolve in response to the states of the neurons. JijO"iO"j (2) i j and the subscript {Jij} indicates that the {Jij} are to be considered as quenched variables.

Although the visual and auditory systems share the same basic tasks of informing an organism about its environment, most connectionist work on hearing to date has been devoted to the very different problem of speech recognition. VVe believe that the most fundamental task of the auditory system is the analysis of acoustic signals into components corresponding to individual sound sources, which Bregman has called auditory scene analysis. Computational and connectionist work on auditory scene analysis is reviewed, and the outline of a general model that includes these approaches is described.

In a talk entitled "Trajectory Control of Convergent Networks with applications to TSP", Natan Peterfreund (Computer Science, Technion) dealt with the problem of controlling the trajectories of continuous convergent neural networks models for solving optimization problems, without affecting their equilibria set and their convergence properties. Natan presented a class of feedback control functions which achieve this objective, while also improving the convergence rates. A modified Hopfield and Tank neural network model, developed through the proposed feedback approach, was found to substantially improve the results of the original model in solving the Traveling Salesman Problem. The proposed feedback overcame the 2n symmetric property of the TSP problem. In a talk entitled "Training Feedforward Neural Networks quickly and accurately using Very Fast Simulated Reannealing Methods", Bruce Rosen (Asst.

Increasing attention has recently been paid to algorithms based on dynamic programming (DP) due to the suitability of DP for learning problems involving control. In stochastic environments where the system being controlled is only incompletely known, however, a unifying theoretical account of these methods has been missing. In this paper we relate DPbased learning algorithms to the powerful techniques of stochastic approximation via a new convergence theorem, enabling us to establish a class of convergent algorithms to which both TD("\) and Q-Iearning belong. 1 INTRODUCTION Learning to predict the future and to find an optimal way of controlling it are the basic goals of learning systems that interact with their environment. A variety of algorithms are currently being studied for the purposes of prediction and control in incompletely specified, stochastic environments. Here we consider learning algorithms defined in Markov environments. There are actions or controls (u) available for the learner that affect both the state transition probabilities, and the probability distribution for the immediate, state dependent costs (Ci(u)) incurred by the learner.