This work addresses three problems with reinforcement learning and adaptive neuro-control: 1. Non-Markovian interfaces between learner and environment.

We describe the application of a hybrid symbolic/connectionist machine learning algorithm to the task of recognizing important genetic sequences.

Since Kendrew & Perutz solved the first protein structures, myoglobin and hemoglobin, and explained from the discovered structures how these proteins perform their function, it has been widely recognized that protein function is intimately linked with protein structure[l]. Within the last two decades X-ray crystallographers have solved the 3-dimensional (3D) structures of a steadily increasing number of proteins in the crystalline state, and recently 2D-NMR spectroscopy has emerged as an alternative method for small proteins in solution. Today approximately three hundred 3D structures have been solved by these methods, although only about half of them can be considered as truly different, and only around a hundred of them are solved at high resolution (that is, less than 2A). The number of protein sequences known today is well over 20,000, and this number seems to be growing at least one order of magnitude faster than the number of known 3D protein structures. Obviously, it is of great importance to develop tools that can predict structural aspects of proteins on the basis of knowledge acquired from known 3D structures.

Determination of nearly optimalt or at least adequatet regions is left as an additional task that would require that the system dynamics be analyzedt which is not always possible. To address this problemt we move region boundaries adaptively t progressively altering the initial partitioning to a more appropriate representation with no need for a priori knowledge. Unlike previous work (Michiet 1968)t (Bartot 1983)t (Andersont 1982) which used fixed coderSt this approach produces adaptive coders that contract and expand regions/ranges. During adaptationt frequently active regions/ranges contractt reducing the number of situations in which they will be activated, and increasing the chances that neighboring regions will receive input instead. This class of self-organization is discussed in Kohonen (Kohonent 1984)t (Rittert 1986t 1988).

However, a large class of continuous control problems require maintaining the system at a desired operating point, or setpoint, at a given time. We refer to this problem as the basic setpoint control problem [Guha 90], and have shown that reinforcement learning can be used, not surprisingly, quite well for such control tasks.

We present a new connectionist planning method [TML90]. By interaction with an unknown environment, a world model is progressively constructed using gradient descent. For deriving optimal actions with respect to future reinforcement, planning is applied in two steps: an experience network proposes a plan which is subsequently optimized by gradient descent with a chain of world models, so that an optimal reinforcement may be obtained when it is actually run. The appropriateness of this method is demonstrated by a robotics application and a pole balancing task.

We have used a neural network to compute corrections for images written by electron beams to eliminate the proximity effects caused by electron scattering.

We propose a new parallel-hierarchical neural network model to enable motor learning for simultaneous control of both trajectory and force.

Dean A. Pomerleau School of Computer Science Carnegie Mellon University Pittsburgh, PA 15213 Abstract The ALVINN (Autonomous Land Vehicle In a Neural Network) project addresses the problem of training artificial neural networks in real time to perform difficult perception tasks. ALVINN,is a back-propagation network that uses inputs from a video camera and an imaging laser rangefinder to drive the CMU Navlab, a modified Chevy van. This paper describes training techniques which allow ALVINN to learn in under 5 minutes to autonomously control the Navlab by watching a human driver's response to new situations. Using these techniques, ALVINN has been trained to drive in a variety of circumstances including single-lane paved and unpaved roads, multilane lined and unlined roads, and obstacle-ridden on-and off-road environments, at speeds of up to 20 miles per hour. 1 INTRODUCTION Previous trainable connectionist perception systems have often ignored important aspects of the form and content of available sensor data. Because of the assumed impracticality of training networks to perform realistic high level perception tasks, connectionist researchers have frequently restricted their task domains to either toy problems (e.g. the TC identification problem [11] [6]) or fixed low level operations (e.g.

There have been very few demonstrations ofthe application ofVLSI neural networks to real world problems. Yet there are many signal processing, pattern recognition or optimization problems where a large number of competing hypotheses need to be explored in parallel, most often in real time. The massive parallelism of VLSI neural network devices, with one multiplier circuit per synapse, is ideally suited to such problems. In this paper, we present preliminary results from our design for a real time robot navigation system based on VLSI neural network modules.