We exploit player symmetry to formulate the representation of large normal-form games as a regression task. This formulation allows arbitrary regression methods to be employed in in estimating utility functions from a small subset of the game's outcomes. We demonstrate the applicability both neural networks and Gaussian process regression, but focus on the latter. Once utility functions are learned, computing Nash equilibria requires estimating expected payoffs of pure-strategy deviations from mixed-strategy profiles. Computing these expectations exactly requires an infeasible sum over the full payoff matrix, so we propose and test several approximation methods. Three of these are simple and generic, applicable to any regression method and games with any number of player roles. However, the best performance is achieved by a continuous integral that approximates the summation, which we formulate for the specific case of fully-symmetric games learned by Gaussian process regression with a radial basis function kernel. We demonstrate experimentally that the combination of learned utility functions and expected payoff estimation allows us to efficiently identify approximate equilibria of large games using sparse payoff data.

Deep neural networks are used in many state-of-the-art systems for machine perception. Once a network is trained to do a specific task, e.g., bird classification, it cannot easily be trained to do new tasks, e.g., incrementally learning to recognize additional bird species or learning an entirely different task such as flower recognition. When new tasks are added, typical deep neural networks are prone to catastrophically forgetting previous tasks. Networks that are capable of assimilating new information incrementally, much like how humans form new memories over time, will be more efficient than re-training the model from scratch each time a new task needs to be learned. There have been multiple attempts to develop schemes that mitigate catastrophic forgetting, but these methods have not been directly compared, the tests used to evaluate them vary considerably, and these methods have only been evaluated on small-scale problems (e.g., MNIST). In this paper, we introduce new metrics and benchmarks for directly comparing five different mechanisms designed to mitigate catastrophic forgetting in neural networks: regularization, ensembling, rehearsal, dual-memory, and sparse-coding. Our experiments on real-world images and sounds show that the mechanism(s) that are critical for optimal performance vary based on the incremental training paradigm and type of data being used, but they all demonstrate that the catastrophic forgetting problem is not yet solved.

This paper describes an approach to solving insertion tasks by a robot that uses exploratory behaviors and proprioceptive feedback. The approach was inspired by the developmental progression of insertion abilities in both chimpanzees and humans (Hayashi et al. 2006). Before mastering insertions, the infants of the two species undergo a stage where they only press objects against other objects without releasing them. Our goal was to emulate this developmental stage on a robot to see if it may lead to simpler representations for insertion tasks. Experiments were performed using a shapesorter puzzle with three different blocks and holes.