Decentralization is a central characteristic of biological motor control that allows for fast responses relying on local sensory information. In contrast, the current trend of Deep Reinforcement Learning (DRL) based approaches to motor control follows a centralized paradigm using a single, holistic controller that has to untangle the whole input information space. This motivates to ask whether decentralization as seen in biological control architectures might also be beneficial for embodied sensori-motor control systems when using DRL. To answer this question, we provide an analysis and comparison of eight control architectures for adaptive locomotion that were derived for a four-legged agent, but with their degree of decentralization varying systematically between the extremes of fully centralized and fully decentralized. Our comparison shows that learning speed is significantly enhanced in distributed architectures-while still reaching the same high performance level of centralized architectures-due to smaller search spaces and local costs providing more focused information for learning. Second, we find an increased robustness of the learning process in the decentralized cases-it is less demanding to hyperparameter selection and less prone to becoming trapped in poor local minima. Finally, when examining generalization to uneven terrains-not used during training-we find best performance for an intermediate architecture that is decentralized, but integrates only local information from both neighboring legs. Together, these findings demonstrate beneficial effects of distributing control into decentralized units and relying on local information. This appears as a promising approach towards more robust DRL and better generalization towards adaptive behavior.

Locomotion is a prime example for adaptive behavior in animals and biological control principles have inspired control architectures for legged robots. While machine learning has been successfully applied to many tasks in recent years, Deep Reinforcement Learning approaches still appear to struggle when applied to real world robots in continuous control tasks and in particular do not appear as robust solutions that can handle uncertainties well. Therefore, there is a new interest in incorporating biological principles into such learning architectures. While inducing a hierarchical organization as found in motor control has shown already some success, we here propose a decentralized organization as found in insect motor control for coordination of different legs. A decentralized and distributed architecture is introduced on a simulated hexapod robot and the details of the controller are learned through Deep Reinforcement Learning. We first show that such a concurrent local structure is able to learn better walking behavior. Secondly, that the simpler organization is learned faster compared to holistic approaches.

Recent developments in machine-learning algorithms have led to impressive performance increases in many traditional application scenarios of artificial intelligence research. In the area of deep reinforcement learning, deep learning functional architectures are combined with incremental learning schemes for sequential tasks that include interaction-based, but often delayed feedback. Despite their impressive successes, modern machine-learning approaches, including deep reinforcement learning, still perform weakly when compared to flexibly adaptive biological systems in certain naturally occurring scenarios. Such scenarios include transfers to environments different than the ones in which the training took place or environments that dynamically change, both of which are often mastered by biological systems through a capability that we here term “fluid adaptivity” to contrast it from the much slower adaptivity (“crystallized adaptivity”) of the prior learning from which the behavior emerged. In this article, we derive and discuss research strategies, based on analyzes of fluid adaptivity in biological systems and its neuronal modeling, that might aid in equipping future artificially intelligent systems with capabilities of fluid adaptivity more similar to those seen in some biologically intelligent systems. A key component of this research strategy is the dynamization of the problem space itself and the implementation of this dynamization by suitably designed flexibly interacting modules.

Intention-based, anticipatory, interactive systems (IAIS) represent a new class of user-centered assistance systems. IAIS uses actions and system intentions derived from signal data, and the affective state of the user. By anticipating the further action of the user, solutions are interactively negotiated. The active roles of humans and systems change strategically, which requires behavioral models, which in turn can be specified by life sciences' results. Deployed human-machine-systems and lab tests have the goal of understanding of the situated interaction. This supports integration of assistance systems for Industry 4.0 and in the context of demographic change. We provide a definition of IAIS, discuss the underlying requirements, goals and challenges and provide a brief review of the state-of-the-art in the involved research areas.

Unexpected stimuli are a challenge to any machine learning algorithm. Here, we identify distinct types of unexpected events when general-level and specific-level classifiers give conflicting predictions. We define a formal framework for the representation and processing of incongruent events: Starting from the notion of label hierarchy, we show how partial order on labels can be deduced from such hierarchies. For each event, we compute its probability in different ways, based on adjacent levels in the label hierarchy. An incongruent event is an event where the probability computed based on some more specific level is much smaller than the probability computed based on some more general level, leading to conflicting predictions. Algorithms are derived to detect incongruent events from different types of hierarchies, different applications, and a variety of data types. We present promising results for the detection of novel visual and audio objects, and new patterns of motion in video. We also discuss the detection of Out-Of- Vocabulary words in speech recognition, and the detection of incongruent events in a multimodal audiovisual scenario.

Unexpected stimuli are a challenge to any machine learning algorithm. Here we identify distinct types of unexpected events, focusing on 'incongruent events' - when 'general level' and 'specific level' classifiers give conflicting predictions. We define a formal framework for the representation and processing of incongruent events: starting from the notion of label hierarchy, we show how partial order on labels can be deduced from such hierarchies. For each event, we compute its probability in different ways, based on adjacent levels (according to the partial order) in the label hierarchy . An incongruent event is an event where the probability computed based on some more specific level (in accordance with the partial order) is much smaller than the probability computed based on some more general level, leading to conflicting predictions. We derive algorithms to detect incongruent events from different types of hierarchies, corresponding to class membership or part membership. Respectively, we show promising results with real data on two specific problems: Out Of Vocabulary words in speech recognition, and the identification of a new sub-class (e.g., the face of a new individual) in audio-visual facial object recognition.

The dynamics of complex neural networks must include the aspects of long- and short-term memory. The behavior of the network is characterized by an equation of neural activity as a fast phenomenon and an equation of synaptic modification as a slow part of the neural system. The main idea of this paper is to apply a stability analysis method of fixed points of the combined activity and weight dynamics for a special class of competitive neural networks. We present a quadratic-type Lyapunov function for the flow of a competitive neural system with fast and slow dynamic variables as a global stability method and a modality of detecting the local stability behavior around individual equilibrium points.