Online Learning of a Memory for Learning Rates

The promise of learning to learn for robotics rests on the hope that by extracting some information about the learning process itself we can speed up subsequent similar learning tasks. Here, we introduce a computationally efficient online meta-learning algorithm that builds and optimizes a memory model of the optimal learning rate landscape from previously observed gradient behaviors. While performing task specific optimization, this memory of learning rates predicts how to scale currently observed gradients. After applying the gradient scaling our meta-learner updates its internal memory based on the observed effect its prediction had. Our meta-learner can be combined with any gradient-based optimizer, learns on the fly and can be transferred to new optimization tasks. In our evaluations we show that our meta-learning algorithm speeds up learning of MNIST classification and a variety of learning control tasks, either in batch or online learning settings.Comment: accepted to ICRA 2018, code available: https://github.com/fmeier/online-meta-learning ; video pitch available: https://youtu.be/9PzQ25FPPO

An evolutionary behavioral model for decision making

For autonomous agents the problem of deciding what to do next becomes increasingly complex when acting in unpredictable and dynamic environments pursuing multiple and possibly conflicting goals. One of the most relevant behavior-based model that tries to deal with this problem is the one proposed by Maes, the Bbehavior Network model. This model proposes a set of behaviors as purposive perception-action units which are linked in a nonhierarchical network, and whose behavior selection process is orchestrated by spreading activation dynamics. In spite of being an adaptive model (in the sense of self-regulating its own behavior selection process), and despite the fact that several extensions have been proposed in order to improve the original model adaptability, there is not a robust model yet that can self-modify adaptively both the topological structure and the functional purpose\ud of the network as a result of the interaction between the agent and its environment. Thus, this work proffers an innovative hybrid model driven by gene expression programming, which makes two main contributions: (1) given an initial set of meaningless and unconnected units, the evolutionary mechanism is able to build well-defined and robust behavior networks which are adapted and specialized to concrete internal agent's needs and goals; and (2)\ud the same evolutionary mechanism is able to assemble quite\ud complex structures such as deliberative plans (which operate in the long-term) and problem-solving strategies

Neural network-based colonoscopic diagnosis using on-line learning and differential evolution

In this paper, on-line training of neural networks is investigated in the context of computer-assisted colonoscopic diagnosis. A memory-based adaptation of the learning rate for the on-line back-propagation (BP) is proposed and used to seed an on-line evolution process that applies a differential evolution (DE) strategy to (re-) adapt the neural network to modified environmental conditions. Our approach looks at on-line training from the perspective of tracking the changing location of an approximate solution of a pattern-based, and thus, dynamically changing, error function. The proposed hybrid strategy is compared with other standard training methods that have traditionally been used for training neural networks off-line. Results in interpreting colonoscopy images and frames of video sequences are promising and suggest that networks trained with this strategy detect malignant regions of interest with accuracy