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Models of incremental concept formation
Given a set of observations, humans acquire concepts that organize those observations and use them in classifying future experiences. This type of concept formation can occur in the absence of a tutor and it can take place despite irrelevant and incomplete information. A reasonable model of such human concept learning should be both incremental and capable of handling this type of complex experiences that people encounter in the real world. In this paper, we review three previous models of incremental concept formation and then present CLASSIT, a model that extends these earlier systems. All of the models integrate the process of recognition and learning, and all can be viewed as carrying out search through the space of possible concept hierarchies. In an attempt to show that CLASSIT is a robust concept formation system, we also present some empirical studies of its behavior under a variety of conditions
Learning how to learn: an adaptive dialogue agent for incrementally learning visually grounded word meanings
We present an optimised multi-modal dialogue agent for interactive learning
of visually grounded word meanings from a human tutor, trained on real
human-human tutoring data. Within a life-long interactive learning period, the
agent, trained using Reinforcement Learning (RL), must be able to handle
natural conversations with human users and achieve good learning performance
(accuracy) while minimising human effort in the learning process. We train and
evaluate this system in interaction with a simulated human tutor, which is
built on the BURCHAK corpus -- a Human-Human Dialogue dataset for the visual
learning task. The results show that: 1) The learned policy can coherently
interact with the simulated user to achieve the goal of the task (i.e. learning
visual attributes of objects, e.g. colour and shape); and 2) it finds a better
trade-off between classifier accuracy and tutoring costs than hand-crafted
rule-based policies, including ones with dynamic policies.Comment: 10 pages, RoboNLP Workshop from ACL Conferenc
Symbol Emergence in Robotics: A Survey
Humans can learn the use of language through physical interaction with their
environment and semiotic communication with other people. It is very important
to obtain a computational understanding of how humans can form a symbol system
and obtain semiotic skills through their autonomous mental development.
Recently, many studies have been conducted on the construction of robotic
systems and machine-learning methods that can learn the use of language through
embodied multimodal interaction with their environment and other systems.
Understanding human social interactions and developing a robot that can
smoothly communicate with human users in the long term, requires an
understanding of the dynamics of symbol systems and is crucially important. The
embodied cognition and social interaction of participants gradually change a
symbol system in a constructive manner. In this paper, we introduce a field of
research called symbol emergence in robotics (SER). SER is a constructive
approach towards an emergent symbol system. The emergent symbol system is
socially self-organized through both semiotic communications and physical
interactions with autonomous cognitive developmental agents, i.e., humans and
developmental robots. Specifically, we describe some state-of-art research
topics concerning SER, e.g., multimodal categorization, word discovery, and a
double articulation analysis, that enable a robot to obtain words and their
embodied meanings from raw sensory--motor information, including visual
information, haptic information, auditory information, and acoustic speech
signals, in a totally unsupervised manner. Finally, we suggest future
directions of research in SER.Comment: submitted to Advanced Robotic
A half century of progress towards a unified neural theory of mind and brain with applications to autonomous adaptive agents and mental disorders
Invited article for the book
Artificial Intelligence in the Age of
Neural Networks and Brain Computing
R. Kozma, C. Alippi, Y. Choe, and F. C. Morabito, Eds.
Cambridge, MA: Academic PressThis article surveys some of the main design principles, mechanisms, circuits, and architectures that have been discovered during a half century of systematic research aimed at developing a unified theory that links mind and brain, and shows how psychological functions arise as emergent properties of brain mechanisms. The article describes a theoretical method that has enabled such a theory to be developed in stages by carrying out a kind of conceptual evolution. It also describes revolutionary computational paradigms like Complementary Computing and Laminar Computing that constrain the kind of unified theory that can describe the autonomous adaptive intelligence that emerges from advanced brains. Adaptive Resonance Theory, or ART, is one of the core models that has been discovered in this way. ART proposes how advanced brains learn to attend, recognize, and predict objects and events in a changing world that is filled with unexpected events. ART is not, however, a “theory of everything” if only because, due to Complementary Computing, different matching and learning laws tend to support perception and cognition on the one hand, and spatial representation and action on the other. The article mentions why a theory of this kind may be useful in the design of autonomous adaptive agents in engineering and technology. It also notes how the theory has led to new mechanistic insights about mental disorders such as autism, medial temporal amnesia, Alzheimer’s disease, and schizophrenia, along with mechanistically informed proposals about how their symptoms may be ameliorated
Lifelong Learning of Spatiotemporal Representations with Dual-Memory Recurrent Self-Organization
Artificial autonomous agents and robots interacting in complex environments
are required to continually acquire and fine-tune knowledge over sustained
periods of time. The ability to learn from continuous streams of information is
referred to as lifelong learning and represents a long-standing challenge for
neural network models due to catastrophic forgetting. Computational models of
lifelong learning typically alleviate catastrophic forgetting in experimental
scenarios with given datasets of static images and limited complexity, thereby
differing significantly from the conditions artificial agents are exposed to.
In more natural settings, sequential information may become progressively
available over time and access to previous experience may be restricted. In
this paper, we propose a dual-memory self-organizing architecture for lifelong
learning scenarios. The architecture comprises two growing recurrent networks
with the complementary tasks of learning object instances (episodic memory) and
categories (semantic memory). Both growing networks can expand in response to
novel sensory experience: the episodic memory learns fine-grained
spatiotemporal representations of object instances in an unsupervised fashion
while the semantic memory uses task-relevant signals to regulate structural
plasticity levels and develop more compact representations from episodic
experience. For the consolidation of knowledge in the absence of external
sensory input, the episodic memory periodically replays trajectories of neural
reactivations. We evaluate the proposed model on the CORe50 benchmark dataset
for continuous object recognition, showing that we significantly outperform
current methods of lifelong learning in three different incremental learning
scenario
Adaptive Resonance Theory: Self-Organizing Networks for Stable Learning, Recognition, and Prediction
Adaptive Resonance Theory (ART) is a neural theory of human and primate information processing and of adaptive pattern recognition and prediction for technology. Biological applications to attentive learning of visual recognition categories by inferotemporal cortex and hippocampal system, medial temporal amnesia, corticogeniculate synchronization, auditory streaming, speech recognition, and eye movement control are noted. ARTMAP systems for technology integrate neural networks, fuzzy logic, and expert production systems to carry out both unsupervised and supervised learning. Fast and slow learning are both stable response to large non stationary databases. Match tracking search conjointly maximizes learned compression while minimizing predictive error. Spatial and temporal evidence accumulation improve accuracy in 3-D object recognition. Other applications are noted.Office of Naval Research (N00014-95-I-0657, N00014-95-1-0409, N00014-92-J-1309, N00014-92-J4015); National Science Foundation (IRI-94-1659
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