The primate brain must solve two important problems in grasping movements. The first problem concerns the recognition of grasped objects: specifically, how does the brain integrate visual and motor information on a grasped object? The second problem concerns hand shape planning: specifically, how does the brain design the hand configuration suited to the shape of the object and the manipulation task? A neural network model that solves these problems has been developed. The operations of the network are divided into a learning phase and an optimization phase. In the learning phase, internal representations, which depend on the grasped objects and the task, are acquired by integrating visual and somatosensory information. In the optimization phase, the most suitable hand shape for grasping an object is determined by using a relaxation computation of the network.

This paper describes a technique called Input Reconstruction Reliability Estimation (IRRE) for determining the response reliability of a restricted class of multi-layer perceptrons (MLPs). The technique uses a network's ability to accurately encode the input pattern in its internal representation as a measure of its reliability. The more accurately a network is able to reconstruct the input pattern from its internal representation, the more reliable the network is considered to be. IRRE is provides a good estimate of the reliability of MLPs trained for autonomous driving. Results are presented in which the reliability estimates provided by IRRE are used to select between networks trained for different driving situations. 1 Introduction In many real world domains it is important to know the reliability of a network's response since a single network cannot be expected to accurately handle all the possible inputs.

So far there has been no general method for relating extracellular electrophysiological measured activity of neurons in the associative cortex to underlying network or "cognitive" states. We propose to model such data using a multivariate Poisson Hidden Markov Model. We demonstrate the application of this approach for temporal segmentation of the firing patterns, and for characterization of the cortical responses to external stimuli. Using such a statistical model we can significantly discriminate two behavioral modes of the monkey, and characterize them by the different firing patterns, as well as by the level of coherency of their multi-unit firing activity. Our study utilized measurements carried out on behaving Rhesus monkeys by M. Abeles, E. Vaadia, and H. Bergman, of the Hadassa Medical School of the Hebrew University. 1 Introduction Hebb hypothesized in 1949 that the basic information processing unit in the cortex is a cell-assembly which may include thousands of cells in a highly interconnected network[l].

We have designed an architecture to span the gap between biophysics and cognitive science to address and explore issues of how a discrete symbol processing system can arise from the continuum, and how complex dynamics like oscillation and synchronization can then be employed in its operation and affect its learning. We show how a discrete-time recurrent "Elman" network architecture can be constructed from recurrently connected oscillatory associative memory modules described by continuous nonlinear ordinary differential equations. The modules can learn connection weights between themselves which will cause the system to evolve under a clocked "machine cycle" by a sequence of transitions of attractors within the modules, much as a digital computer evolves by transitions of its binary flip-flop attractors. The architecture thus employs the principle of "computing with attractors" used by macroscopic systems for reliable computation in the presence of noise. We have specifically constructed a system which functions as a finite state automaton that recognizes or generates the infinite set of six symbol strings that are defined by a Reber grammar. It is a symbol processing system, but with analog input and oscillatory subsymbolic representations. The time steps (machine cycles) of the system are implemented by rhythmic variation (clocking) of a bifurcation parameter. This holds input and "context" modules clamped at their attractors while'hidden and output modules change state, then clamps hidden and output states while context modules are released to load those states as the new context for the next cycle of input. Superior noise immunity has been demonstrated for systems with dynamic attractors over systems with static attractors, and synchronization ("binding") between coupled oscillatory attractors in different modules has been shown to be important for effecting reliable transitions.

We address the problem of learning an unknown function by pu tting together several pieces of information (hints) that we know about the function. We introduce a method that generalizes learning from examples to learning from hints. A canonical representation of hints is defined and illustrated for new types of hints. All the hints are represented to the learning process by examples, and examples of the function are treated on equal footing with the rest of the hints. During learning, examples from different hints are selected for processing according to a given schedule. We present two types of schedules; fixed schedules that specify the relative emphasis of each hint, and adaptive schedules that are based on how well each hint has been learned so far. Our learning method is compatible with any descent technique that we may choose to use.

"Trajectory Extension Learning" is a new technique for Learning Control in Robots which assumes that there exists some parameter of the desired trajectory that can be smoothly varied from a region of easy solvability of the dynamics to a region of desired behavior which may have more difficult dynamics. By gradually varying the parameter, practice movements remain near the desired path while a Neural Network learns to approximate the inverse dynamics. For example, the average speed of motion might be varied, and the inverse dynamics can be "bootstrapped" from slow movements with simpler dynamics to fast movements. This provides an example of the more general concept of a "Practice Strategy" in which a sequence of intermediate tasks is used to simplify learning a complex task. I show an example of the application of this idea to a real 2-joint direct drive robot arm.

We present the information-theoretic derivation of a learning algorithm that clusters unlabelled data with linear discriminants. In contrast to methods that try to preserve information about the input patterns, we maximize the information gained from observing the output of robust binary discriminators implemented with sigmoid nodes. We deri ve a local weight adaptation rule via gradient ascent in this objective, demonstrate its dynamics on some simple data sets, relate our approach to previous work and suggest directions in which it may be extended.

We present a neural net architecture that can discover hierarchical and recursive structure in symbol strings. To detect structure at multiple levels, the architecture has the capability of reducing symbols substrings to single symbols, and makes use of an external stack memory. In terms of formal languages, the architecture can learn to parse strings in an LR(O) contextfree grammar. Given training sets of positive and negative exemplars, the architecture has been trained to recognize many different grammars. The architecture has only one layer of modifiable weights, allowing for a straightforward interpretation of its behavior.

We present a new algorithm, Prioritized Sweeping, for efficient prediction and control of stochastic Markov systems. Incremental learning methods such as Temporal Differencing and Q-Iearning have fast real time performance. Classical methods are slower, but more accurate, because they make full use of the observations. Prioritized Sweeping aims for the best of both worlds. It uses all previous experiences both to prioritize important dynamic programming sweeps and to guide the exploration of statespace. We compare Prioritized Sweeping with other reinforcement learning schemes for a number of different stochastic optimal control problems. It successfully solves large state-space real time problems with which other methods have difficulty.

In a multi-layered neural network, anyone of the hidden layers can be viewed as computing a distributed representation of the input. Several "encoder" experiments have shown that when the representation space is small it can be fully used. But computing with such a representation requires completely dependable nodes. In the case where the hidden nodes are noisy and unreliable, we find that error correcting schemes emerge simply by using noisy units during training; random errors injected during backpropagation result in spreading representations apart. Average and minimum distances increase with misfire probability, as predicted by coding-theoretic considerations. Furthennore, the effect of this noise is to protect the machine against permanent node failure, thereby potentially extending the useful lifetime of the machine.