We propose that the binding and segmentation of visual features is mediated by two complementary mechanisms; a low resolution, spatial-based, resource-free process and a high resolution, temporal-based, resource-limited process. In the visual cortex, the former depends upon the orderly topographic organization in striate and extrastriate areas while the latter may be related to observed temporal relationships between neuronal activities. Computer simulations illustrate the role the two mechanisms play in figure/ ground discrimination, depth-from-occlusion, and the vividness of perceptual completion.

Parti-game is a new algorithm for learning from delayed rewards in high dimensional real-valued state-spaces. In high dimensions it is essential that learning does not explore or plan over state space uniformly. Part i-game maintains a decision-tree partitioning of state-space and applies game-theory and computational geometry techniques to efficiently and reactively concentrate high resolution only on critical areas. Many simulated problems have been tested, ranging from 2-dimensional to 9-dimensional state-spaces, including mazes, path planning, nonlinear dynamics, and uncurling snake robots in restricted spaces. In all cases, a good solution is found in less than twenty trials and a few minutes. 1 REINFORCEMENT LEARNING Reinforcement learning [Samuel, 1959, Sutton, 1984, Watkins, 1989, Barto et al., 1991] is a promising method for control systems to program and improve themselves.

Survival is enhanced by an ability to predict the availability of food, the likelihood of predators, and the presence of mates. We present a concrete model that uses diffuse neurotransmitter systems to implement a predictive version of a Hebb learning rule embedded in a neural architecture based on anatomical and physiological studies on bees. The model captured the strategies seen in the behavior of bees and a number of other animals when foraging in an uncertain environment. The predictive model suggests a unified way in which neuromodulatory influences can be used to bias actions and control synaptic plasticity. Successful predictions enhance adaptive behavior by allowing organisms to prepare for future actions, rewards, or punishments. Moreover, it is possible to improve upon behavioral choices if the consequences of executing different actions can be reliably predicted. Although classical and instrumental conditioning results from the psychological literature [1] demonstrate that the vertebrate brain is capable of reliable prediction, how these predictions are computed in brains is not yet known. The brains of vertebrates and invertebrates possess small nuclei which project axons throughout large expanses of target tissue and deliver various neurotransmitters such as dopamine, norepinephrine, and acetylcholine [4]. The activity in these systems may report on reinforcing stimuli in the world or may reflect an expectation of future reward [5, 6,7,8].

We consider the problem of how the CNS learns to control dynamics of a mechanical system. By using a paradigm where a subject's hand interacts with a virtual mechanical environment, we show that learning control is via composition of a model of the imposed dynamics. Some properties of the computational elements with which the CNS composes this model are inferred through the generalization capabilities of the subject outside the training data.

What Does the Hippocampus Compute?: A Precis of the 1993 NIPS Workshop Computational models of the hippocampal-region provide an important method for understanding the functional role of this brain system in learning and memory. The presentations in this workshop focused on how modeling can lead to a unified understanding of the interplay among hippocampal physiology, anatomy, and behavior. One approach can be characterized as "top-down" analyses of the neuropsychology of memory, drawing upon brain-lesion studies in animals and humans. Other models take a "bottom-up" approach, seeking to infer emergent computational and functional properties from detailed analyses of circuit connectivity and physiology (see Gluck & Granger, 1993, for a review). Among the issues discussed were: (1) integration of physiological and behavioral theories of hippocampal function, (2) similarities and differences between animal and human studies, (3) representational vs. temporal properties of hippocampaldependent behaviors, (4) rapid vs. incremental learning, (5) mUltiple vs. unitary memory systems, (5) spatial navigation and memory, and (6) hippocampal interaction with other brain systems.

Furthermore, we have verified that weights learned from 9x9 Go offer a suitable basis for further training on the full-size (19x19) board.

The conventional Bayesian justification of backprop is that it finds the MAP weight vector. As this paper shows, to find the MAP io function instead one must add a correction tenn to backprop. That tenn biases one towards io functions with small description lengths, and in particular favors (some kinds of) feature-selection, pruning, and weight-sharing.

"Q-routing" algorithm, related to certain distributed packet routing algorithms

Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego, CA 92186-5800 Abstract The game of Go has a high branching factor that defeats the tree search approach used in computer chess, and long-range spatiotemporal interactionsthat make position evaluation extremely difficult. Development of conventional Go programs is hampered by their knowledge-intensive nature. We demonstrate a viable alternative by training networks to evaluate Go positions via temporal difference(TD) learning. Our approach is based on network architectures that reflect the spatial organization of both input and reinforcement signals on the Go board, and training protocols that provide exposure to competent (though unlabelled) play. These techniques yield far better performance than undifferentiated networks trained by selfplay alone.A network with less than 500 weights learned within 3,000 games of 9x9 Go a position evaluation function that enables a primitive one-ply search to defeat a commercial Go program at a low playing level. 1 INTRODUCTION Go was developed three to four millenia ago in China; it is the oldest and one of the most popular board games in the world.

Sejnowski Computational Neurobiology Lab The Salk: Institute San Diego, CA 92138 Visual spatial information is projected from the retina to the brain in a highly topographic fashion, so that 2-D visual space is represented in a simple retinotopic map. Auditory spatial information, by contrast, has to be computed from binaural time and intensity differences as well as from monaural spectral cues produced by the head and ears. Evaluation of these cues in the central nervous system leads to the generation of neurons that are sensitive to the location of a sound source in space ("spatial tuning") and, in some animal species, to auditory space maps where spatial location is encoded as a 2-D map just like in the visual system. The brain structures thought to be involved in the multimodal integration of visual and auditory spatial integration are the superior colliculus in the midbrain and the inferior parietal lobe in the cerebral cortex. It has been suggested for the owl that the visual system participates in setting up the auditory space map in the superior.