Hi-Val: Iterative Learning of Hierarchical Value Functions for Policy Generation

Task decomposition is effective in manifold applications where the global complexity of a problem makes planning and decision-making too demanding. This is true, for example, in high-dimensional robotics domains, where (1) unpredictabilities and modeling limitations typically prevent the manual specification of robust behaviors, and (2) learning an action policy is challenging due to the curse of dimensionality. In this work, we borrow the concept of Hierarchical Task Networks (HTNs) to decompose the learning procedure, and we exploit Upper Confidence Tree (UCT) search to introduce HOP, a novel iterative algorithm for hierarchical optimistic planning with learned value functions. To obtain better generalization and generate policies, HOP simultaneously learns and uses action values. These are used to formalize constraints within the search space and to reduce the dimensionality of the problem. We evaluate our algorithm both on a fetching task using a simulated 7-DOF KUKA light weight arm and, on a pick and delivery task with a Pioneer robot

Neural principles underlying motor learning and adaptation

Animals, and especially humans, can learn to flexibly adjust their movements to changing environments. The neural principles underlying this remarkable capability are still not fully understood. Among the most prominent brain regions controlling movement is primary motor cortex (M1). Adapted motor behaviour can be related to a change in neural activity within this region. Yet, the rules guiding this activity change, and thus behavioural adaptation, remain unclear. The overall aim of this thesis is to investigate the learning process(es) governing the described change in activity in M1 and, with that, the change in behaviour. Computational modelling is used to study three specific aspects of learning: 1. What constrains learning to favour some neural activity patterns over others? 2. Can we identify where in a hierarchical pathway learning is happening? 3. How can sensory feedback guide the learning process? We start by investigating what kind of biological constraints differentially affect learning of new neural activity that either preserves coactivation patterns between neurons (within-manifold learning), or requires learning of new coactivation patterns (outside-manifold learning). We propose a new explanation - the learnability of feedback signals - for why within-manifold activity patterns can be easier learned than outside-manifold activity patterns. In the second part we develop a hierarchical model of the motor system to investigate whether we can derive where learning has happened from only measuring neural activity. Lastly, we investigate how the brain could implement a biologically plausible learning rule which allows it to correctly assign errors and update recurrent connectivity in a goal-driven manner. Overall, our work offers new perspectives on the role of M1 for motor learning and adaptation, challenges current beliefs, and puts a focus on the role of feedback signals for local plasticity in M1.Open Acces

Hyperbolic Diffusion Embedding and Distance for Hierarchical Representation Learning

Finding meaningful representations and distances of hierarchical data is important in many fields. This paper presents a new method for hierarchical data embedding and distance. Our method relies on combining diffusion geometry, a central approach to manifold learning, and hyperbolic geometry. Specifically, using diffusion geometry, we build multi-scale densities on the data, aimed to reveal their hierarchical structure, and then embed them into a product of hyperbolic spaces. We show theoretically that our embedding and distance recover the underlying hierarchical structure. In addition, we demonstrate the efficacy of the proposed method and its advantages compared to existing methods on graph embedding benchmarks and hierarchical datasets

Hyperbolic Interaction Model For Hierarchical Multi-Label Classification

Different from the traditional classification tasks which assume mutual exclusion of labels, hierarchical multi-label classification (HMLC) aims to assign multiple labels to every instance with the labels organized under hierarchical relations. Besides the labels, since linguistic ontologies are intrinsic hierarchies, the conceptual relations between words can also form hierarchical structures. Thus it can be a challenge to learn mappings from word hierarchies to label hierarchies. We propose to model the word and label hierarchies by embedding them jointly in the hyperbolic space. The main reason is that the tree-likeness of the hyperbolic space matches the complexity of symbolic data with hierarchical structures. A new Hyperbolic Interaction Model (HyperIM) is designed to learn the label-aware document representations and make predictions for HMLC. Extensive experiments are conducted on three benchmark datasets. The results have demonstrated that the new model can realistically capture the complex data structures and further improve the performance for HMLC comparing with the state-of-the-art methods. To facilitate future research, our code is publicly available

Truncated Variational EM for Semi-Supervised Neural Simpletrons

Inference and learning for probabilistic generative networks is often very challenging and typically prevents scalability to as large networks as used for deep discriminative approaches. To obtain efficiently trainable, large-scale and well performing generative networks for semi-supervised learning, we here combine two recent developments: a neural network reformulation of hierarchical Poisson mixtures (Neural Simpletrons), and a novel truncated variational EM approach (TV-EM). TV-EM provides theoretical guarantees for learning in generative networks, and its application to Neural Simpletrons results in particularly compact, yet approximately optimal, modifications of learning equations. If applied to standard benchmarks, we empirically find, that learning converges in fewer EM iterations, that the complexity per EM iteration is reduced, and that final likelihood values are higher on average. For the task of classification on data sets with few labels, learning improvements result in consistently lower error rates if compared to applications without truncation. Experiments on the MNIST data set herein allow for comparison to standard and state-of-the-art models in the semi-supervised setting. Further experiments on the NIST SD19 data set show the scalability of the approach when a manifold of additional unlabeled data is available