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 recognizeshuman 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 systemallows to identify the location of the referenced target object to an accuracy of 1 cm in a workspace area of 50x50 cm.

On large problems, reinforcement learning systems must use parameterized functionapproximators 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 resultshave 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).

By applying a likelihood splitting criteria to each expert in the HME we "grow" the tree adaptively during training. Secondly,by considering only the most probable path through the tree we may "prune" branches away, either temporarily, or permanently ifthey become redundant. We demonstrate results for the growing and path pruning algorithms which show significant speed ups and more efficient use of parameters over the standard fixed structure in discriminating between two interlocking spirals and classifying 8-bit parity patterns. INTRODUCTION The HME (Jordan & Jacobs 1994) is a tree structured network whose terminal nodes are simple function approximators in the case of regression or classifiers in the case of classification. The outputs of the terminal nodes or experts are recursively combined upwards towards the root node, to form the overall output of the network, by "gates" which are situated at the non-terminal nodes.

Natural and artificial neural circuits must be capable of traversing specificstate space trajectories. A natural approach to this problem is to learn the relevant trajectories from examples. Unfortunately, gradientdescent learning of complex trajectories in amorphous networks is unsuccessful. We suggest a possible approach wheretrajectories are realized by combining simple oscillators, in various modular ways. We contrast two regimes of fast and slow oscillations.

Anke Meyer-Base Institute of Technical Informatics Technical University of Darmstadt Darmstadt, Germany 64283 Abstract The dynamics of complex neural networks modelling the selforganization processin cortical maps must include the aspects of long and short-term memory. The behaviour of the network is such characterized by an equation of neural activity as a fast phenomenon andan equation of synaptic modification as a slow part of the neural system. We present a quadratic-type Lyapunov function for the flow of a competitive neural system with fast and slow dynamic variables. We also show the consequences of the stability analysis on the neural net parameters. 1 INTRODUCTION This paper investigates a special class of laterally inhibited neural networks. In particular, we have examined the dynamics of a restricted class of laterally inhibited neural networks from a rigorous analytic standpoint.

In this paper the problem of learning appropriate domain-specific bias is addressed. It is shown that this can be achieved by learning many related tasks from the same domain, and a theorem is given bounding the number tasks that must be learnt.

We describe the reinforcement learning problem, motivate algorithms whichseek an approximation to the Q function, and present new convergence results for two such algorithms. 1 INTRODUCTION AND BACKGROUND Imagine an agent acting in some environment. At time t, the environment is in some state Xt chosen from a finite set of states. The agent perceives Xt, and is allowed to choose an action at from some finite set of actions. Meanwhile, the agent experiences a real-valued cost Ct, chosen from a distribution which also depends only on Xt and at and which has finite mean and variance. Such an environment is called a Markov decision process, or MDP.

"Topographic" mappings occur frequently in the brain. A popular approachto understanding the structure of such mappings is to map points representing input features in a space of a few dimensions to points in a 2 dimensional space using some selforganizing algorithm.We argue that a more general approach may be useful, where similarities between features are not constrained tobe geometric distances, and the objective function for topographic matching is chosen explicitly rather than being specified implicitlyby the self-organizing algorithm. We investigate analytically an example of this more general approach applied to the structure of interdigitated mappings, such as the pattern of ocular dominance columns in primary visual cortex. 1 INTRODUCTION A prevalent feature of mappings in the brain is that they are often "topographic". In the most straightforward case this simply means that neighbouring points on a two-dimensional sheet (e.g. the retina) are mapped to neighbouring points in a more central two-dimensional structure (e.g. the optic tectum). However a more complex case, still often referred to as topographic, is the mapping from an abstract space of features (e.g.

Tel: [ 44] 1223 332815 ajr@eng.cam.ac.uk ABSTRACT We present a Bayesian framework for inferring the parameters of a mixture of experts model based on ensemble learning by variational freeenergy minimisation. The Bayesian approach avoids the over-fitting and noise level underestimation problems of traditional maximum likelihood inference. We demonstrate these methods on artificial problems and sunspot time series prediction. INTRODUCTION The task of estimating the parameters of adaptive models such as artificial neural networks using Maximum Likelihood (ML) is well documented ego Geman, Bienenstock & Doursat (1992). ML estimates typically lead to models with high variance, a process known as "over-fitting".

Recently, several researchers have reported encouraging experimental results whenusing Gaussian or bump-like activation functions in multilayer perceptrons. Networks of this type usually require fewer hidden layers and units and often learn much faster than typical sigmoidal networks. To explain these results we consider a hyper-ridge network, which is a simple perceptron with no hidden units and a rid¥e activation function. If we are interested in partitioningp points in d dimensions into two classes then in the limit as d approaches infinity the capacity of a hyper-ridge and a perceptron is identical.