12,776 research outputs found
Grounding Language for Transfer in Deep Reinforcement Learning
In this paper, we explore the utilization of natural language to drive
transfer for reinforcement learning (RL). Despite the wide-spread application
of deep RL techniques, learning generalized policy representations that work
across domains remains a challenging problem. We demonstrate that textual
descriptions of environments provide a compact intermediate channel to
facilitate effective policy transfer. Specifically, by learning to ground the
meaning of text to the dynamics of the environment such as transitions and
rewards, an autonomous agent can effectively bootstrap policy learning on a new
domain given its description. We employ a model-based RL approach consisting of
a differentiable planning module, a model-free component and a factorized state
representation to effectively use entity descriptions. Our model outperforms
prior work on both transfer and multi-task scenarios in a variety of different
environments. For instance, we achieve up to 14% and 11.5% absolute improvement
over previously existing models in terms of average and initial rewards,
respectively.Comment: JAIR 201
Self-Supervised Vision-Based Detection of the Active Speaker as Support for Socially-Aware Language Acquisition
This paper presents a self-supervised method for visual detection of the
active speaker in a multi-person spoken interaction scenario. Active speaker
detection is a fundamental prerequisite for any artificial cognitive system
attempting to acquire language in social settings. The proposed method is
intended to complement the acoustic detection of the active speaker, thus
improving the system robustness in noisy conditions. The method can detect an
arbitrary number of possibly overlapping active speakers based exclusively on
visual information about their face. Furthermore, the method does not rely on
external annotations, thus complying with cognitive development. Instead, the
method uses information from the auditory modality to support learning in the
visual domain. This paper reports an extensive evaluation of the proposed
method using a large multi-person face-to-face interaction dataset. The results
show good performance in a speaker dependent setting. However, in a speaker
independent setting the proposed method yields a significantly lower
performance. We believe that the proposed method represents an essential
component of any artificial cognitive system or robotic platform engaging in
social interactions.Comment: 10 pages, IEEE Transactions on Cognitive and Developmental System
Multi-view Learning as a Nonparametric Nonlinear Inter-Battery Factor Analysis
Factor analysis aims to determine latent factors, or traits, which summarize
a given data set. Inter-battery factor analysis extends this notion to multiple
views of the data. In this paper we show how a nonlinear, nonparametric version
of these models can be recovered through the Gaussian process latent variable
model. This gives us a flexible formalism for multi-view learning where the
latent variables can be used both for exploratory purposes and for learning
representations that enable efficient inference for ambiguous estimation tasks.
Learning is performed in a Bayesian manner through the formulation of a
variational compression scheme which gives a rigorous lower bound on the log
likelihood. Our Bayesian framework provides strong regularization during
training, allowing the structure of the latent space to be determined
efficiently and automatically. We demonstrate this by producing the first (to
our knowledge) published results of learning from dozens of views, even when
data is scarce. We further show experimental results on several different types
of multi-view data sets and for different kinds of tasks, including exploratory
data analysis, generation, ambiguity modelling through latent priors and
classification.Comment: 49 pages including appendi
The neural correlates of speech motor sequence learning
Speech is perhaps the most sophisticated example of a species-wide movement capability in the animal kingdom, requiring split-second sequencing of approximately 100 muscles in the respiratory, laryngeal, and oral movement systems. Despite the unique role speech plays in human interaction and the debilitating impact of its disruption, little is known about the neural mechanisms underlying speech motor learning. Here, we studied the behavioral and neural correlates of learning new speech motor sequences. Participants repeatedly produced novel, meaningless syllables comprising illegal consonant clusters (e.g., GVAZF) over 2 days of practice. Following practice, participants produced the sequences with fewer errors and shorter durations, indicative of motor learning. Using fMRI, we compared brain activity during production of the learned illegal sequences and novel illegal sequences. Greater activity was noted during production of novel sequences in brain regions linked to non-speech motor sequence learning, including the BG and pre-SMA. Activity during novel sequence production was also greater in brain regions associated with learning and maintaining speech motor programs, including lateral premotor cortex, frontal operculum, and posterior superior temporal cortex. Measures of learning success correlated positively with activity in left frontal operculum and white matter integrity under left posterior superior temporal sulcus. These findings indicate speech motor sequence learning relies not only on brain areas involved generally in motor sequencing learning but also those associated with feedback-based speech motor learning. Furthermore, learning success is modulated by the integrity of structural connectivity between these motor and sensory brain regions.R01 DC007683 - NIDCD NIH HHS; R01DC007683 - NIDCD NIH HH
Learning and Production of Movement Sequences: Behavioral, Neurophysiological, and Modeling Perspectives
A growing wave of behavioral studies, using a wide variety of paradigms that were introduced or greatly refined in recent years, has generated a new wealth of parametric observations about serial order behavior. What was a mere trickle of neurophysiological studies has grown to a more steady stream of probes of neural sites and mechanisms underlying sequential behavior. Moreover, simulation models of serial behavior generation have begun to open a channel to link cellular dynamics with cognitive and behavioral dynamics. Here we summarize the major results from prominent sequence learning and performance tasks, namely immediate serial recall, typing, 2XN, discrete sequence production, and serial reaction time. These populate a continuum from higher to lower degrees of internal control of sequential organization. The main movement classes covered are speech and keypressing, both involving small amplitude movements that are very amenable to parametric study. A brief synopsis of classes of serial order models, vis-Ã -vis the detailing of major effects found in the behavioral data, leads to a focus on competitive queuing (CQ) models. Recently, the many behavioral predictive successes of CQ models have been joined by successful prediction of distinctively patterend electrophysiological recordings in prefrontal cortex, wherein parallel activation dynamics of multiple neural ensembles strikingly matches the parallel dynamics predicted by CQ theory. An extended CQ simulation model-the N-STREAMS neural network model-is then examined to highlight issues in ongoing attemptes to accomodate a broader range of behavioral and neurophysiological data within a CQ-consistent theory. Important contemporary issues such as the nature of working memory representations for sequential behavior, and the development and role of chunks in hierarchial control are prominent throughout.Defense Advanced Research Projects Agency/Office of Naval Research (N00014-95-1-0409); National Institute of Mental Health (R01 DC02852
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