Training neural networks to encode symbols enables combinatorial generalization

Combinatorial generalization - the ability to understand and produce novel combinations of already familiar elements - is considered to be a core capacity of the human mind and a major challenge to neural network models. A significant body of research suggests that conventional neural networks can't solve this problem unless they are endowed with mechanisms specifically engineered for the purpose of representing symbols. In this paper we introduce a novel way of representing symbolic structures in connectionist terms - the vectors approach to representing symbols (VARS), which allows training standard neural architectures to encode symbolic knowledge explicitly at their output layers. In two simulations, we show that neural networks not only can learn to produce VARS representations, but in doing so they achieve combinatorial generalization in their symbolic and non-symbolic output. This adds to other recent work that has shown improved combinatorial generalization under specific training conditions, and raises the question of whether specific mechanisms or training routines are needed to support symbolic processing

Goal-Directed Behavior under Variational Predictive Coding: Dynamic Organization of Visual Attention and Working Memory

Mental simulation is a critical cognitive function for goal-directed behavior because it is essential for assessing actions and their consequences. When a self-generated or externally specified goal is given, a sequence of actions that is most likely to attain that goal is selected among other candidates via mental simulation. Therefore, better mental simulation leads to better goal-directed action planning. However, developing a mental simulation model is challenging because it requires knowledge of self and the environment. The current paper studies how adequate goal-directed action plans of robots can be mentally generated by dynamically organizing top-down visual attention and visual working memory. For this purpose, we propose a neural network model based on variational Bayes predictive coding, where goal-directed action planning is formulated by Bayesian inference of latent intentional space. Our experimental results showed that cognitively meaningful competencies, such as autonomous top-down attention to the robot end effector (its hand) as well as dynamic organization of occlusion-free visual working memory, emerged. Furthermore, our analysis of comparative experiments indicated that introduction of visual working memory and the inference mechanism using variational Bayes predictive coding significantly improve the performance in planning adequate goal-directed actions

Experience-driven formation of parts-based representations in a model of layered visual memory

Growing neuropsychological and neurophysiological evidence suggests that the visual cortex uses parts-based representations to encode, store and retrieve relevant objects. In such a scheme, objects are represented as a set of spatially distributed local features, or parts, arranged in stereotypical fashion. To encode the local appearance and to represent the relations between the constituent parts, there has to be an appropriate memory structure formed by previous experience with visual objects. Here, we propose a model how a hierarchical memory structure supporting efficient storage and rapid recall of parts-based representations can be established by an experience-driven process of self-organization. The process is based on the collaboration of slow bidirectional synaptic plasticity and homeostatic unit activity regulation, both running at the top of fast activity dynamics with winner-take-all character modulated by an oscillatory rhythm. These neural mechanisms lay down the basis for cooperation and competition between the distributed units and their synaptic connections. Choosing human face recognition as a test task, we show that, under the condition of open-ended, unsupervised incremental learning, the system is able to form memory traces for individual faces in a parts-based fashion. On a lower memory layer the synaptic structure is developed to represent local facial features and their interrelations, while the identities of different persons are captured explicitly on a higher layer. An additional property of the resulting representations is the sparseness of both the activity during the recall and the synaptic patterns comprising the memory traces.Comment: 34 pages, 12 Figures, 1 Table, published in Frontiers in Computational Neuroscience (Special Issue on Complex Systems Science and Brain Dynamics), http://www.frontiersin.org/neuroscience/computationalneuroscience/paper/10.3389/neuro.10/015.2009

Integrating Symbolic and Neural Processing in a Self-Organizing Architechture for Pattern Recognition and Prediction

British Petroleum (89A-1204); Defense Advanced Research Projects Agency (N00014-92-J-4015); National Science Foundation (IRI-90-00530); Office of Naval Research (N00014-91-J-4100); Air Force Office of Scientific Research (F49620-92-J-0225

Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

In this work, we propose a novel robot learning framework called Neural Task Programming (NTP), which bridges the idea of few-shot learning from demonstration and neural program induction. NTP takes as input a task specification (e.g., video demonstration of a task) and recursively decomposes it into finer sub-task specifications. These specifications are fed to a hierarchical neural program, where bottom-level programs are callable subroutines that interact with the environment. We validate our method in three robot manipulation tasks. NTP achieves strong generalization across sequential tasks that exhibit hierarchal and compositional structures. The experimental results show that NTP learns to generalize well to- wards unseen tasks with increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201