A biologically inspired meta-control navigation system for the Psikharpax rat robot

A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e. g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment-recognized as new contexts-and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics

Transfer Learning via Contextual Invariants for One-to-Many Cross-Domain Recommendation

The rapid proliferation of new users and items on the social web has aggravated the gray-sheep user/long-tail item challenge in recommender systems. Historically, cross-domain co-clustering methods have successfully leveraged shared users and items across dense and sparse domains to improve inference quality. However, they rely on shared rating data and cannot scale to multiple sparse target domains (i.e., the one-to-many transfer setting). This, combined with the increasing adoption of neural recommender architectures, motivates us to develop scalable neural layer-transfer approaches for cross-domain learning. Our key intuition is to guide neural collaborative filtering with domain-invariant components shared across the dense and sparse domains, improving the user and item representations learned in the sparse domains. We leverage contextual invariances across domains to develop these shared modules, and demonstrate that with user-item interaction context, we can learn-to-learn informative representation spaces even with sparse interaction data. We show the effectiveness and scalability of our approach on two public datasets and a massive transaction dataset from Visa, a global payments technology company (19% Item Recall, 3x faster vs. training separate models for each domain). Our approach is applicable to both implicit and explicit feedback settings.Comment: SIGIR 202