70,822 research outputs found
Covert Perceptual Capability Development
In this paper, we propose a model to develop
robots’ covert perceptual capability using reinforcement learning. Covert perceptual behavior is treated as action selected by a motivational system. We apply this model to
vision-based navigation. The goal is to enable
a robot to learn road boundary type. Instead
of dealing with problems in controlled environments with a low-dimensional state space,
we test the model on images captured in non-stationary environments. Incremental Hierarchical Discriminant Regression is used to
generate states on the fly. Its coarse-to-fine
tree structure guarantees real-time retrieval
in high-dimensional state space. K Nearest-Neighbor strategy is adopted to further reduce training time complexity
Novelty and Reinforcement Learning in the Value System of Developmental Robots
The value system of a developmental robot signals the occurrence of salient sensory inputs, modulates the mapping from sensory inputs to action outputs, and evaluates candidate actions. In the work reported here, a low level value system is modeled and implemented. It simulates the non-associative animal learning mechanism known as habituation effect. Reinforcement learning is also integrated with novelty. Experimental results show that the proposed value system works as designed in a study of robot viewing angle selection
Dirac cohomology and Euler-Poincar\'e pairing for weight modules
Let be a reductive Lie algebra over . For any
simple weight module of with finite-dimensional weight spaces,
we show that its Dirac cohomology is vanished unless it is a highest weight
module. This completes the calculation of Dirac cohomology for simple weight
modules since the Dirac cohomology of simple highest weight modules was carried
out in our previous work. We also show that the Dirac index pairing of two
weight modules which have infinitesimal characters agrees with their
Euler-Poincar\'{e} pairing. The analogue of this result for Harish-Chandra
modules is a consequence of the Kazhdan's orthogonality conjecture which was
settled by the first named author and Binyong Sun
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