A Developmental Organization for Robot Behavior

This paper focuses on exploring how learning and development can be structured in synthetic (robot) systems. We present a developmental assembler for constructing reusable and temporally extended actions in a sequence. The discussion adopts the traditions of dynamic pattern theory in which behavior is an artifact of coupled dynamical systems with a number of controllable degrees of freedom. In our model, the events that delineate control decisions are derived from the pattern of (dis)equilibria on a working subset of sensorimotor policies. We show how this architecture can be used to accomplish sequential knowledge gathering and representation tasks and provide examples of the kind of developmental milestones that this approach has already produced in our lab

Can biological quantum networks solve NP-hard problems?

There is a widespread view that the human brain is so complex that it cannot be efficiently simulated by universal Turing machines. During the last decades the question has therefore been raised whether we need to consider quantum effects to explain the imagined cognitive power of a conscious mind. This paper presents a personal view of several fields of philosophy and computational neurobiology in an attempt to suggest a realistic picture of how the brain might work as a basis for perception, consciousness and cognition. The purpose is to be able to identify and evaluate instances where quantum effects might play a significant role in cognitive processes. Not surprisingly, the conclusion is that quantum-enhanced cognition and intelligence are very unlikely to be found in biological brains. Quantum effects may certainly influence the functionality of various components and signalling pathways at the molecular level in the brain network, like ion ports, synapses, sensors, and enzymes. This might evidently influence the functionality of some nodes and perhaps even the overall intelligence of the brain network, but hardly give it any dramatically enhanced functionality. So, the conclusion is that biological quantum networks can only approximately solve small instances of NP-hard problems. On the other hand, artificial intelligence and machine learning implemented in complex dynamical systems based on genuine quantum networks can certainly be expected to show enhanced performance and quantum advantage compared with classical networks. Nevertheless, even quantum networks can only be expected to efficiently solve NP-hard problems approximately. In the end it is a question of precision - Nature is approximate.Comment: 38 page

Domain-Specific Computing Architectures and Paradigms

We live in an exciting era where artificial intelligence (AI) is fundamentally shifting the dynamics of industries and businesses around the world. AI algorithms such as deep learning (DL) have drastically advanced the state-of-the-art cognition and learning capabilities. However, the power of modern AI algorithms can only be enabled if the underlying domain-specific computing hardware can deliver orders of magnitude more performance and energy efficiency. This work focuses on this goal and explores three parts of the domain-specific computing acceleration problem; encapsulating specialized hardware and software architectures and paradigms that support the ever-growing processing demand of modern AI applications from the edge to the cloud. This first part of this work investigates the optimizations of a sparse spatio-temporal (ST) cognitive system-on-a-chip (SoC). This design extracts ST features from videos and leverages sparse inference and kernel compression to efficiently perform action classification and motion tracking. The second part of this work explores the significance of dataflows and reduction mechanisms for sparse deep neural network (DNN) acceleration. This design features a dynamic, look-ahead index matching unit in hardware to efficiently discover fine-grained parallelism, achieving high energy efficiency and low control complexity for a wide variety of DNN layers. Lastly, this work expands the scope to real-time machine learning (RTML) acceleration. A new high-level architecture modeling framework is proposed. Specifically, this framework consists of a set of high-performance RTML-specific architecture design templates, and a Python-based high-level modeling and compiler tool chain for efficient cross-stack architecture design and exploration.PHDElectrical and Computer EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/162870/1/lchingen_1.pd