Elucidation of the relationship between TD learning and dynamic programming (DP) has provided good theoretical insights (Barto et al., 1995). However, conventional TD algorithms were based on discrete-time, discrete-state formulations. In applying these algorithms to control problems, time, space and action had to be appropriately discretized using a priori knowledge or by trial and error. Furthermore, when a TD algorithm is used for neurobiological modeling, discrete-time operation is often very unnatural. There have been several attempts to extend TD-like algorithms to continuous cases. Bradtke et al. (1994) showed convergence results for DPbased algorithms for a discrete-time, continuous-state linear system with a quadratic cost. Bradtke and Duff (1995) derived TD-like algorithms for continuous-time, discrete-state systems (semi-Markov decision problems). Baird (1993) proposed the "advantage updating" algorithm by modifying Q-Iearning so that it works with arbitrary small time steps.

On large problems, reinforcement learning systems must use parameterized function approximators such as neural networks in order to generalize between similar situations and actions. In these cases there are no strong theoretical results on the accuracy of convergence, and computational results have been mixed. In particular, Boyan and Moore reported at last year's meeting a series of negative results in attempting to apply dynamic programming together with function approximation to simple control problems with continuous state spaces. In this paper, we present positive results for all the control tasks they attempted, and for one that is significantly larger. The most important differences are that we used sparse-coarse-coded function approximators (CMACs) whereas they used mostly global function approximators, and that we learned online whereas they learned offline. Boyan and Moore and others have suggested that the problems they encountered could be solved by using actual outcomes ("rollouts"), as in classical Monte Carlo methods, and as in the TD().) algorithm when).

Most current methods for prediction of protein secondary structure use a small window of the protein sequence to predict the structure of the central amino acid. We describe a new method for prediction of the non-local structure called,8-sheet, which consists of two or more,8-strands that are connected by hydrogen bonds. Since,8-strands are often widely separated in the protein chain, a network with two windows is introduced. After training on a set of proteins the network predicts the sheets well, but there are many false positives. By using a global energy function the,8-sheet prediction is combined with a local prediction of the three secondary structures a-helix,,8-strand and coil.

There is currently considerable interest in developing general nonlinear density models based on latent, or hidden, variables. Such models have the ability to discover the presence of a relatively small number of underlying'causes' which, acting in combination, give rise to the apparent complexity of the observed data set. Unfortunately, to train such models generally requires large computational effort. In this paper we introduce a novel latent variable algorithm which retains the general nonlinear capabilities of previous models but which uses a training procedure based on the EM algorithm. We demonstrate the performance of the model on a toy problem and on data from flow diagnostics for a multiphase oil pipeline.

We present results on the use of neural network based autoassociators which act as novelty or anomaly detectors to detect imminent motor failures. The autoassociator is trained to reconstruct spectra obtained from the healthy motor. In laboratory tests, we have demonstrated that the trained autoassociator has a small reconstruction error on measurements recorded from healthy motors but a larger error on those recorded from a motor with a fault. We have designed and built a motor monitoring system using an autoassociator for anomaly detection and are in the process of testing the system at three industrial and commercial sites.

We introduce a constructive, incremental learning system for regression problems that models data by means of locally linear experts. In contrast to other approaches, the experts are trained independently and do not compete for data during learning. Only when a prediction for a query is required do the experts cooperate by blending their individual predictions. Each expert is trained by minimizing a penalized local cross validation error using second order methods. In this way, an expert is able to find a local distance metric by adjusting the size and shape of the receptive field in which its predictions are valid, and also to detect relevant input features by adjusting its bias on the importance of individual input dimensions. We derive asymptotic results for our method. In a variety of simulations the properties of the algorithm are demonstrated with respect to interference, learning speed, prediction accuracy, feature detection, and task oriented incremental learning.

There are two neural network algorithms at its cme: the first network is trained to find individual characters in an alphamuneric field, while the second one perfmns the classification. Both networks were trained on Gabor projections of the ociginal pixel images, which resulted in higher recognition rates and greater noise immunity. Compared to its purely numeric counterpart (Shusurovich and Thrasher, 1995), this version of the system has a significant applicatim specific postprocessing module. The system has been implemented in specialized parallel hardware, which allows it to run at 80 char/sec/board. It has been installed at the Driver and Vehicle Licensing Agency (DVLA) in the United Kingdom.

We describe the use of modern analytical techniques in solving the dynamics of symmetric and nonsymmetric recurrent neural networks near saturation. These explicitly take into account the correlations between the post-synaptic potentials, and thereby allow for a reliable prediction of transients. 1 INTRODUCTION Recurrent neural networks have been rather popular in the physics community, because they lend themselves so naturally to analysis with tools from equilibrium statistical mechanics. This was the main theme of physicists between, say, 1985 and 1990. Less familiar to the neural network community is a subsequent wave of theoretical physical studies, dealing with the dynamics of symmetric and nonsymmetric recurrent networks. The strategy here is to try to describe the processes at a reduced level of an appropriate small set of dynamic macroscopic observables.

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.

A statistical theory for overtraining is proposed. The analysis treats realizable stochastic neural networks, trained with Kullback Leibler loss in the asymptotic case. It is shown that the asymptotic gain in the generalization error is small if we perform early stopping, even if we have access to the optimal stopping time. Considering cross-validation stopping we answer the question: In what ratio the examples should be divided into training and testing sets in order to obtain the optimum performance. In the non-asymptotic region cross-validated early stopping always decreases the generalization error. Our large scale simulations done on a CM5 are in nice agreement with our analytical findings.