The problem of predicting the motion of a vehicle has been investigated by several researchers. Many have used Kalman filter techniques based on the equations of vehicle motion; these techniques most accurately predict shortterm motion. In contrast, my dissertation (Krozel 1992)1 presents a methodology for intelligent path prediction, where predicting the motion of an observed vehicle is performed by reasoning about the decision-making strategy of the vehicle's operator.

The theory revision problem is the problem of how best to go about revising a deficient domain theory using information contained in examples that expose inaccuracies. In this paper we present our approach to the theory revision problem for propositional domain theories. The approach described here, called PTR, uses probabilities associated with domain theory elements to numerically track the ``flow'' of proof through the theory. This allows us to measure the precise role of a clause or literal in allowing or preventing a (desired or undesired) derivation for a given example. This information is used to efficiently locate and repair flawed elements of the theory. PTR is proved to converge to a theory which correctly classifies all examples, and shown experimentally to be fast and accurate even for deep theories.

The input strings consist of a timeordered sequence of XY coordinates, punctuated by pen-lifts. The methods were designed to work in "run-on mode" where there is no constraint on the spacing between characters. While both methods use a neural network recognition engine and a graph-algorithmic post-processor, their approaches to segmentation are quite different. The first method, which we call IN SEC (for input segmentation), uses a combination of heuristics to identify particular penlifts as tentative segmentation points. The second method, which we call OUTSEC (for output segmentation), relies on the empirically trained recognition engine for both recognizing characters and identifying relevant segmentation points.

Many techniques for model selection in the field of neural networks correspond to well established statistical methods. The method of'stopped training', on the other hand, in which an oversized network is trained until the error on a further validation set of examples deteriorates, then training is stopped, is a true innovation, since model selection doesn't require convergence of the training process. In this paper we show that this performance can be significantly enhanced by extending the'non convergent model selection method' of stopped training to include dynamic topology modifications (dynamic weight pruning) and modified complexity penalty term methods in which the weighting of the penalty term is adjusted during the training process. 1 INTRODUCTION One of the central topics in the field of neural networks is that of model selection. Both the theoretical and practical side of this have been intensively investigated and a vast array of methods have been suggested to perform this task. A widely used class of techniques starts by choosing an'oversized' network architecture then either removing redundant elements based on some measure of saliency (pruning), adding a further term to the cost function penalizing complexity (penalty terms), and finally, observing the error on a further validation set of examples, then stopping training as soon as this performance begins to deteriorate (stopped training).

We propose a model of the development of geometric reasoning in children that explicitly involves learning. The model uses a neural network that is initialized with an understanding of geometry similar to that of second-grade children. Through the presentation of a series of examples, the model is shown to develop an understanding of geometry similar to that of fifth-grade children who were trained using similar materials.

The overall goal is to reduce spacecraft weight.

Recently, both connectionist and symbolic methods have been developed for biasing learning with prior knowledge lFu, 1989; Towell et a/., 1990; Ourston and Mooney, 1990]. Most ofthese methods revise an imperfect knowledge base (usually obtained from a domain expert) to fit a set of empirical data. Some of these methods have been successfully applied to real-world tasks, such as recognizing promoter sequences in DNA [Towell et ai., 1990; Ourston and Mooney, 1990]. The results demonstrate that revising an expert-given knowledge base produces more accurate results than learning from training data alone.

Recent research on reinforcement learning has focused on algorithms based on the principles of Dynamic Programming (DP). One of the most promising areas of application for these algorithms is the control of dynamical systems, and some impressive results have been achieved. However, there are significant gaps between practice and theory. In particular, there are no con vergence proofs for problems with continuous state and action spaces, or for systems involving nonlinear function approximators (such as multilayer perceptrons). This paper presents research applying DPbased reinforcement learning theory to Linear Quadratic Regulation (LQR), an important class of control problems involving continuous state and action spaces and requiring a simple type of nonlinear function approximator. We describe an algorithm based on Q-Iearning that is proven to converge to the optimal controller for a large class of LQR problems. We also describe a slightly different algorithm that is only locally convergent to the optimal Q-function, demonstrating one of the possible pitfalls of using a nonlinear function approximator with DPbased learning.

We would like to incorporate speaker-dependent consistencies, such as gender, in an otherwise speaker-independent speech recognition system. In this paper we discuss a Gender Dependent Neural Network (GDNN) which can be tuned for each gender, while sharing most of the speaker independent parameters. We use a classification network to help generate gender-dependent phonetic probabilities for a statistical (HMM) recognition system. The gender classification net predicts the gender with high accuracy, 98.3% on a Resource Management test set. However, the integration of the GDNN into our hybrid HMM-neural network recognizer provided an improvement in the recognition score that is not statistically significant on a Resource Management test set.

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.