74,301 research outputs found
Automatic large-scale classification of bird sounds is strongly improved by unsupervised feature learning
This is an Open Access article distributed in accordance with the terms of the Creative Commons Attribution (CC BY 4.0) license, which permits others to distribute, remix, adapt and build upon this work, for commercial use, provided the original work is properly cited. See: http://creativecommons.org/ licenses/by/4.0
Using learned action models in execution monitoring
Planners reason with abstracted models of the behaviours they use to construct plans. When plans are turned into the instructions that drive an executive, the real behaviours interacting with the unpredictable uncertainties of the environment can lead to failure. One of the challenges for intelligent autonomy is to recognise when the actual execution of a behaviour has diverged so far from the expected behaviour that it can be considered to be a failure. In this paper we present further developments of the work described in (Fox et al. 2006), where models of behaviours were learned as Hidden Markov Models. Execution of behaviours is monitored by tracking the most likely trajectory through such a learned model, while possible failures in execution are identified as deviations from common patterns of trajectories within the learned models. We present results for our experiments with a model learned for a robot behaviour
Supervised Learning in Spiking Neural Networks for Precise Temporal Encoding
Precise spike timing as a means to encode information in neural networks is
biologically supported, and is advantageous over frequency-based codes by
processing input features on a much shorter time-scale. For these reasons, much
recent attention has been focused on the development of supervised learning
rules for spiking neural networks that utilise a temporal coding scheme.
However, despite significant progress in this area, there still lack rules that
have a theoretical basis, and yet can be considered biologically relevant. Here
we examine the general conditions under which synaptic plasticity most
effectively takes place to support the supervised learning of a precise
temporal code. As part of our analysis we examine two spike-based learning
methods: one of which relies on an instantaneous error signal to modify
synaptic weights in a network (INST rule), and the other one on a filtered
error signal for smoother synaptic weight modifications (FILT rule). We test
the accuracy of the solutions provided by each rule with respect to their
temporal encoding precision, and then measure the maximum number of input
patterns they can learn to memorise using the precise timings of individual
spikes as an indication of their storage capacity. Our results demonstrate the
high performance of FILT in most cases, underpinned by the rule's
error-filtering mechanism, which is predicted to provide smooth convergence
towards a desired solution during learning. We also find FILT to be most
efficient at performing input pattern memorisations, and most noticeably when
patterns are identified using spikes with sub-millisecond temporal precision.
In comparison with existing work, we determine the performance of FILT to be
consistent with that of the highly efficient E-learning Chronotron, but with
the distinct advantage that FILT is also implementable as an online method for
increased biological realism.Comment: 26 pages, 10 figures, this version is published in PLoS ONE and
incorporates reviewer comment
Backwards is the way forward: feedback in the cortical hierarchy predicts the expected future
Clark offers a powerful description of the brain as a prediction machine, which offers progress on two distinct levels. First, on an abstract conceptual level, it provides a unifying framework for perception, action, and cognition (including subdivisions such as attention, expectation, and imagination). Second, hierarchical prediction offers progress on a concrete descriptive level for testing and constraining conceptual elements and mechanisms of predictive coding models (estimation of predictions, prediction errors, and internal models)
Detecting execution failures using learned action models
Planners reason with abstracted models of the behaviours they use to construct plans. When plans are turned into the instructions that drive an executive, the real behaviours interacting with the unpredictable uncertainties of the environment can lead to failure. One of the challenges for intelligent autonomy is to recognise when the actual execution of a behaviour has diverged so far from the expected behaviour that it can be considered to be a failure. In this paper we present an approach by which a trace of the execution of a behaviour is monitored by tracking its most likely explanation through a learned model of how the behaviour is normally executed. In this way, possible failures are identified as deviations from common patterns of the execution of the behaviour. We perform an experiment in which we inject errors into the behaviour of a robot performing a particular task, and explore how well a learned model of the task can detect where these errors occur
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