The overall goal is to reduce spacecraft weight.

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.

This paper describes a technique called Input Reconstruction Reliability Estimation (IRRE) for determining the response reliability of a restricted class of multi-layer perceptrons (MLPs). The technique uses a network's ability to accurately encode the input pattern in its internal representation as a measure of its reliability. The more accurately a network is able to reconstruct the input pattern from its internal representation, the more reliable the network is considered to be. IRRE is provides a good estimate of the reliability of MLPs trained for autonomous driving. Results are presented in which the reliability estimates provided by IRRE are used to select between networks trained for different driving situations. 1 Introduction In many real world domains it is important to know the reliability of a network's response since a single network cannot be expected to accurately handle all the possible inputs.

One way to speed up reinforcement learning is to enable learning to happen simultaneously at multiple resolutions in space and time. This paper shows how to create a Q-Iearning managerial hierarchy in which high level managers learn how to set tasks to their submanagers who, in turn, learn how to satisfy them. Sub-managers need not initially understand their managers' commands. They simply learn to maximise their reinforcement in the context of the current command. We illustrate the system using a simple maze task.. As the system learns how to get around, satisfying commands at the multiple levels, it explores more efficiently than standard, flat, Q-Iearning and builds a more comprehensive map. 1 INTRODUCTION Straightforward reinforcement learning has been quite successful at some relatively complex tasks like playing backgammon (Tesauro, 1992).

We present a new algorithm, Prioritized Sweeping, for efficient prediction and control of stochastic Markov systems. Incremental learning methods such as Temporal Differencing and Q-Iearning have fast real time performance. Classical methods are slower, but more accurate, because they make full use of the observations. Prioritized Sweeping aims for the best of both worlds. It uses all previous experiences both to prioritize important dynamic programming sweeps and to guide the exploration of statespace. We compare Prioritized Sweeping with other reinforcement learning schemes for a number of different stochastic optimal control problems. It successfully solves large state-space real time problems with which other methods have difficulty.

When m n, we say that the manipulator has redundant degrees--of -freedom (dot). The inverse kinematics problem is the following: given a desired workspace location x, find joint variables 0 such that f(O) x. Even when the forward kinematics is known, 255 256 DeMers and Kreutz-Delgado the inverse kinematics for a manipulator is not generically solvable in closed form (Craig. 1986).

A parallel stochastic algorithm is investigated for error-descent learning and optimization in deterministic networks of arbitrary topology. No explicit information about internal network structure is needed. The method is based on the model-free distributed learning mechanism of Dembo and Kailath. A modified parameter update rule is proposed by which each individual parameter vector perturbation contributes a decrease in error. A substantially faster learning speed is hence allowed. Furthermore, the modified algorithm supports learning time-varying features in dynamical networks. We analyze the convergence and scaling properties of the algorithm, and present simulation results for dynamic trajectory learning in recurrent networks.

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).

Vector Quantization is useful for data compression. Competitive Learning which minimizes reconstruction error is an appropriate algorithm for vector quantization of unlabelled data. Vector quantization of labelled data for classification has a different objective, to minimize the number of misclassifications, and a different algorithm is appropriate. We show that a variant of Kohonen's LVQ2.1 algorithm can be seen as a multiclass extension of an algorithm which in a restricted 2 class case can be proven to converge to the Bayes optimal classification boundary. We compare the performance of the LVQ2.1 algorithm to that of a modified version having a decreasing window and normalized step size, on a ten class vowel classification problem.

The algorithm presented performs gradient descent on the weight space of an Artificial Neural Network (ANN), using a finite difference to approximate the gradient The method is novel in that it achieves a computational complexity similar to that of Node Perturbation, O(N3), but does not require access to the activity of hidden or internal neurons. This is possible due to a stochastic relation between perturbations at the weights and the neurons of an ANN. The algorithm is also similar to Weight Perturbation in that it is optimal in terms of hardware requirements when used for the training ofVLSI implementations of ANN's.