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MURPHY: A Robot that Learns by Doing

Neural Information Processing Systems

Current Focus Of Learning Research Most connectionist learning algorithms may be grouped into three general catagories, commonly referred to as supenJised, unsupenJised, and reinforcement learning. Supervised learning requires the explicit participation of an intelligent teacher, usually to provide the learning system with task-relevant input-output pairs (for two recent examples, see [1,2]). Unsupervised learning, exemplified by "clustering" algorithms, are generally concerned with detecting structure in a stream of input patterns [3,4,5,6,7]. In its final state, an unsupervised learning system will typically represent the discovered structure as a set of categories representing regions of the input space, or, more generally, as a mapping from the input space into a space of lower dimension that is somehow better suited to the task at hand. In reinforcement learning, a "critic" rewards or penalizes the learning system, until the system ultimately produces the correct output in response to a given input pattern [8]. It has seemed an inevitable tradeoff that systems needing to rapidly learn specific, behaviorally useful input-output mappings must necessarily do so under the auspices of an intelligent teacher with a ready supply of task-relevant training examples. This state of affairs has seemed somewhat paradoxical, since the processes of Rerceptual and cognitive development in human infants, for example, do not depend on the moment by moment intervention of a teacher of any sort. Learning by Doing The current work has been focused on a fourth type of learning algorithm, i.e. learning-bydoing, an approach that has been very little studied from either a connectionist perspective


Experimental Demonstrations of Optical Neural Computers

Neural Information Processing Systems

The high interconnectivity required by neural computers can be simply implemented in optics because channels for optical signals may be superimposed in three dimensions with little or no cross coupling. Since these channels may be formed holographically, optical neural systems can be designed to create and maintain interconnections very simply. Thus the optical system designer can to a large extent avoid the analytical and topological problems of determining individual interconnections for a given neural system and constructing physical paths for these interconnections. An archetypical design for a single layer of an optical neural computer is shown in Figure 1. Nonlinear thresholding elements, neurons, are arranged on two dimensional planes which are interconnected via the third dimension by holographic elements. The key concerns in implementing this design involve the need for suitable nonlinearities for the neural planes and high capacity, easily modifiable holographic elements. While it is possible to implement the neural function using entirely optical nonlinearities, for example using etalon arrays\ optoelectronic two dimensional spatial light modulators (2D SLMs) suitable for this purpose are more readily available.


Constrained Differential Optimization

Neural Information Processing Systems

Many optimization models of neural networks need constraints to restrict the space of outputs to a subspace which satisfies external criteria. Optimizations using energy methods yield "forces" which act upon the state of the neural network. The penalty method, in which quadratic energy constraints are added to an existing optimization energy, has become popular recently, but is not guaranteed to satisfy the constraint conditions when there are other forces on the neural model or when there are multiple constraints. In this paper, we present the basic differential multiplier method (BDMM), which satisfies constraints exactly; we create forces which gradually apply the constraints over time, using "neurons" that estimate Lagrange multipliers. The basic differential multiplier method is a differential version of the method of multipliers from Numerical Analysis.


Time-Sequential Self-Organization of Hierarchical Neural Networks

Neural Information Processing Systems

TIME-SEQUENTIAL SELF-ORGANIZATION OF HIERARCHICAL NEURAL NETWORKS Ronald H. Silverman Cornell University Medical College, New York, NY 10021 Andrew S. Noetzel polytechnic University, Brooklyn, NY 11201 ABSTRACT Self-organization of multi-layered networks can be realized by time-sequential organization of successive neural layers. Lateral inhibition operating in the surround of firing cells in each layer provides for unsupervised capture of excitation patterns presented by the previous layer. By presenting patterns of increasing complexity, in coordination with network selforganization, higher levels of the hierarchy capture concepts implicit in the pattern set. INTRODUCTION A fundamental difficulty in self-organization of hierarchical, multi-layered, networks of simple neuron-like cells is the determination of the direction of adjustment of synaptic link weights between neural layers not directly connected to input or output patterns. Several different approaches have been used to address this problem.


HIGH DENSITY ASSOCIATIVE MEMORIES

Neural Information Processing Systems

A"'ir Dembo Information Systems Laboratory, Stanford University Stanford, CA 94305 Ofer Zeitouni Laboratory for Information and Decision Systems MIT, Cambridge, MA 02139 ABSTRACT A class of high dens ity assoc iat ive memories is constructed, starting from a description of desired properties those should exhib it. These propert ies include high capac ity, controllable bas ins of attraction and fast speed of convergence. Fortunately enough, the resulting memory is implementable by an artificial Neural Net. I NfRODUCTION Most of the work on assoc iat ive memories has been structure oriented, i.e.. given a Neural architecture, efforts were directed towards the analysis of the resulting network. Issues like capacity, basins of attractions, etc. were the main objects to be analyzed cf., e.g.


Learning on a General Network

Neural Information Processing Systems

The network model considered consists of interconnected groups of neurons, where each group could be fully interconnected (it could have feedback connections, with possibly asymmetric weights), but no loops between the groups are allowed. A stochastic descent algorithm is applied, under a certain inequality constraint on each intragroup weight matrix which ensures for the network to possess a unique equilibrium state for every input. Introduction It has been shown in the last few years that large networks of interconnected "neuron" -like elemp.nts



Self-Organization of Associative Database and Its Applications

Neural Information Processing Systems

Here, X is a finite or infinite set, and Y is another finite or infinite set. A learning machine observes any set of pairs (x, y) sampled randomly from X x Y. (X x Y means the Cartesian product of X and Y.) And, it computes some estimate j:


A Dynamical Approach to Temporal Pattern Processing

Neural Information Processing Systems

W. Scott Stornetta Stanford University, Physics Department, Stanford, Ca., 94305 Tad Hogg and B. A. Huberman Xerox Palo Alto Research Center, Palo Alto, Ca. 94304 ABSTRACT Recognizing patterns with temporal context is important for such tasks as speech recognition, motion detection and signature verification. We propose an architecture in which time serves as its own representation, and temporal context is encoded in the state of the nodes. We contrast this with the approach of replicating portions of the architecture to represent time. As one example of these ideas, we demonstrate an architecture with capacitive inputs serving as temporal feature detectors in an otherwise standard back propagation model. Experiments involving motion detection and word discrimination serve to illustrate novel features of the system.


A Computer Simulation of Cerebral Neocortex: Computational Capabilities of Nonlinear Neural Networks

Neural Information Processing Systems

A synthetic neural network simulation of cerebral neocortex was developed based on detailed anatomy and physiology. Processing elements possess temporal nonlinearities and connection patterns similar to those of cortical neurons. The network was able to replicate spatial and temporal integration properties found experimentally in neocortex. A certain level of randomness was found to be crucial for the robustness of at least some of the network's computational capabilities. Emphasis was placed on how synthetic simulations can be of use to the study of both artificial and biological neural networks.