The Multilayer In-Place Learning Network for the Development of General Invariances and Multi-Task Learning

摘要

Currently, there is a lack of general-purpose in-place learning engines that incrementally learn multiple tasks, to develop "soft" multi-task-shared invariances in the intermediate internal representation while a developmental robot interacts with its environment. Computationally, biologically inspired in-place learning provides unusually efficient learning algorithms whose simplicity, low computational complexity, and generality are set apart from typical conventional learning algorithms. We present in this paper the multiple-layer in-place learning network (MILN) for this ambitious goal. As a key requirement for autonomous mental development, the network enables both unsupervised and supervised learning to occur concurrently, depending on whether motor supervision signals are available or not at the motor end (the last layer) during the agent's interactions with the environment. We present principles based on which MILN automatically develops invariant neurons in different layers and why such invariant neuronal clusters are important for learning later tasks in open-ended development.