Convergence Results for the EM Approach to Mixtures of Experts Architectures

The Expectation-Maximization (EM) algorithm is an iterative approach to maximum likelihood parameter estimation. Jordan and Jacobs (1993) recently proposed an EM algorithm for the mixture of experts architecture of Jacobs, Jordan, Nowlan and Hinton (1991) and the hierarchical mixture of experts architecture of Jordan and Jacobs (1992). They showed empirically that the EM algorithm for these architectures yields significantly faster convergence than gradient ascent. In the current paper we provide a theoretical analysis of this algorithm. We show that the algorithm can be regarded as a variable metric algorithm with its searching direction having a positive projection on the gradient of the log likelihood. We also analyze the convergence of the algorithm and provide an explicit expression for the convergence rate. In addition, we describe an acceleration technique that yields a significant speedup in simulation experiments.

The M-Machine Multicomputer

The M-Machine is an experimental multicomputer being developed to test architectural concepts motivated by the constraints of modern semiconductor technology and the demands of programming systems. The M- Machine computing nodes are connected with a 3-D mesh network; each node is a multithreaded processor incorporating 12 function units, on-chip cache, and local memory. The multiple function units are used to exploit both instruction-level and thread-level parallelism. A user accessible message passing system yields fast communication and synchronization between nodes. Rapid access to remote memory is provided transparently to the user with a combination of hardware and software mechanisms. This paper presents the architecture of the M-Machine and describes how its mechanisms maximize both single thread performance and overall system throughput.

Leveraging Learning and Language Via Communication Bootstrapping

In a Communication Bootstrapping system, peer components with different perceptual worlds invent symbols and syntax based on correlations between their percepts. I propose that Communication Bootstrapping can also be used to acquire functional definitions of words and causal reasoning knowledge. I illustrate this point with several examples, then sketch the architecture of a system in progress which attempts to execute this task.

Evolving Robocode Tank Fighters

In this paper, I describe the application of genetic programming to evolve a controller for a robotic tank in a simulated environment. The purpose is to explore how genetic techniques can best be applied to produce controllers based on subsumption and behavior oriented languages such as REX. As part of my implementation, I developed TableRex, a modification of REX that can be expressed on a fixed-length genome. Using a fixed subsumption architecture of TableRex modules, I evolved robots that beat some of the most competitive hand-coded adversaries.

A Model for Deliberation, Action, and Introspection

This thesis investigates the problem of controlling or directing the reasoning and actions of a computer program. The basic approach explored is to view reasoning as a species of action, so that a program might apply its reasoning powers to the task of deciding what inferences to make as well as deciding what other actions to take. A design for the architecture of reasoning programs is proposed. This architecture involves self-consciousness, intentional actions, deliberate adaptations, and a form of decision-making based on dialectical argumentation. A program based on this architecture inspects itself, describes aspects of itself, and uses this self-reference and these self-descriptions in making decisions and taking actions. The program's mental life includes awareness of its own concepts, beliefs, desires, intentions, inferences, actions, and skills. All of these are represented by self-descriptions in a single sort of language, so that the program has access to all of these aspects of itself, and can reason about them in the same terms.