2,496 research outputs found
Self-organization of action hierarchy and compositionality by reinforcement learning with recurrent neural networks
Recurrent neural networks (RNNs) for reinforcement learning (RL) have shown
distinct advantages, e.g., solving memory-dependent tasks and meta-learning.
However, little effort has been spent on improving RNN architectures and on
understanding the underlying neural mechanisms for performance gain. In this
paper, we propose a novel, multiple-timescale, stochastic RNN for RL. Empirical
results show that the network can autonomously learn to abstract sub-goals and
can self-develop an action hierarchy using internal dynamics in a challenging
continuous control task. Furthermore, we show that the self-developed
compositionality of the network enhances faster re-learning when adapting to a
new task that is a re-composition of previously learned sub-goals, than when
starting from scratch. We also found that improved performance can be achieved
when neural activities are subject to stochastic rather than deterministic
dynamics
Embodied Artificial Intelligence through Distributed Adaptive Control: An Integrated Framework
In this paper, we argue that the future of Artificial Intelligence research
resides in two keywords: integration and embodiment. We support this claim by
analyzing the recent advances of the field. Regarding integration, we note that
the most impactful recent contributions have been made possible through the
integration of recent Machine Learning methods (based in particular on Deep
Learning and Recurrent Neural Networks) with more traditional ones (e.g.
Monte-Carlo tree search, goal babbling exploration or addressable memory
systems). Regarding embodiment, we note that the traditional benchmark tasks
(e.g. visual classification or board games) are becoming obsolete as
state-of-the-art learning algorithms approach or even surpass human performance
in most of them, having recently encouraged the development of first-person 3D
game platforms embedding realistic physics. Building upon this analysis, we
first propose an embodied cognitive architecture integrating heterogenous
sub-fields of Artificial Intelligence into a unified framework. We demonstrate
the utility of our approach by showing how major contributions of the field can
be expressed within the proposed framework. We then claim that benchmarking
environments need to reproduce ecologically-valid conditions for bootstrapping
the acquisition of increasingly complex cognitive skills through the concept of
a cognitive arms race between embodied agents.Comment: Updated version of the paper accepted to the ICDL-Epirob 2017
conference (Lisbon, Portugal
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