Reinforcement learning, one of the most active research areas in artificial intelligence, is a computational approach to learning whereby an agent tries to maximize the total amount of reward it receives when interacting with a complex, uncertain environment. In Reinforcement Learning, Richard Sutton and Andrew Barto provide a clear and simple account of the key ideas and algorithms of reinforcement learning. Their discussion ranges from the history of the field's intellectual foundations to the most recent developments and applications. The only necessary mathematical background is familiarity with elementary concepts of probability. The book is divided into three parts. Part I defines the reinforcement learning problem in terms of Markov decision processes. Part II provides basic solution methods: dynamic programming, Monte Carlo methods, and temporal-difference learning. Part III presents a unified view of the solution methods and incorporates artificial neural networks, eligibility traces, and planning; the two final chapters present case studies and consider the future of reinforcement learning.

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Reinforcement Learning: An Introduction

抗原变异可使得多种致病微生物易于逃避宿主免疫应答。表达在感染红细胞表面的恶性疟原虫红细胞表面蛋白1（PfPMP1）与感染红细胞、内皮细胞、树突状细胞以及胎盘的单个或多个受体作用，在黏附及免疫逃避中起关键的作用。每个单倍体基因组var基因家族编码约60种成员，通过启动转录不同的var基因变异体为抗原变异提供了分子基础。

疟原虫var基因转换速率变化导致抗原变异[英]／Paul H, Robert P, Christodoulou Z, et al//Proc Natl Acad Sci U S A

Recent developments in the quantitative analysis of complex networks, based largely on graph theory, have been rapidly translated to studies of brain network organization. The brain's structural and functional systems have features of complex networks--such as small-world topology, highly connected hubs and modularity--both at the whole-brain scale of human neuroimaging and at a cellular scale in non-human animals. In this article, we review studies investigating complex brain networks in diverse experimental modalities (including structural and functional MRI, diffusion tensor imaging, magnetoencephalography and electroencephalography in humans) and provide an accessible introduction to the basic principles of graph theory. We also highlight some of the technical challenges and key questions to be addressed by future developments in this rapidly moving field.

Complex brain networks: graph theoretical analysis of structural and functional systems

http://brainimaging.waisman.wisc.edu/~chung/neuro.processing/literature/rubinov.2010.NI.network.pdf

Complex network measures of brain connectivity: uses and interpretations.

I have developed "tennis elbow" from lugging this book around the past four weeks, but it is worth the pain, the effort, and the aspirin. It is also worth the (relatively speaking) bargain price. Including appendixes, this book contains 894 pages of text. The entire panorama of the neural sciences is surveyed and examined, and it is comprehensive in its scope, from genomes to social behaviors. The editors explicitly state that the book is designed as "an introductory text for students of biology, behavior, and medicine," but it is hard to imagine any audience, interested in any fragment of neuroscience at any level of sophistication, that would not enjoy this book. The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or

Principles of Neural Science

The basal ganglia system has been proposed as a possible neural substrate for action selection in the vertebrate brain. We describe a robotic implementation of a model of the basal ganglia and demonstrate the capacity of this system to generate adaptive switching between several acts when embedded in a robot that has to "survive" in a laboratory environment. A comparison between this brain-inspired selection mechanism and classical "winner-takes-all" selection highlights some adaptive properties specific to the model, such as avoidance of dithering and energy-saving. These properties derive, in part, from the capacity of simulated basal ganglia-thalamo-cortical loops to generate appropriate "behavioral persistence".

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A basal ganglia inspired model of action selection evaluated in a robotic survival task

In previous research we have demonstrated a computational model of the intrinsic circuitry of the vertebrate basal ganglia based on the proposal that these central brain structures play an important role in action selection. The current work embeds this model within the control architecture of a Khepera
mobile robot allowing action selection between multiple behaviors styled on some of the home cage activities of a laboratory rat. Our results demonstrate appropriate and clean switching by the embodied basal ganglia model between wall-following, search, 'food'-pickup, corner-finding, and ‘food’-deposit behaviors. The robot can be seen to select appropriate actions for different circumstances and to generate integrated sequences of behavior. The normal function of the basal ganglia is sensitive to fluctuations in the level of the neurotransmitter
dopamine. The effects on the robot model of varying the simulated dopamine level show interesting similarities to those observed in animals. This research demonstrates that the proposed functional model of the basal ganglia is sufficient for effective action selection within a fully specified behavioral
control architecture.

An embodied model of action selection mechanisms in the vertebrate brain

The effects of striatal dopamine (DA) on behavior have been widely investigated over the past decades, with "phasic" burst firings considered as the key expression of a reward prediction error responsible for reinforcement learning. Less well studied is "tonic" DA, where putative functions include the idea that it is a regulator of vigor, incentive salience, disposition to exert an effort and a modulator of approach strategies. We present a model combining tonic and phasic DA to show how different outflows triggered by either intrinsically or extrinsically motivating stimuli dynamically affect the basal ganglia by impacting on a selection process this system performs on its cortical input. The model, which has been tested on the simulated humanoid robot iCub interacting with a mechatronic board, shows the putative functions ascribed to DA emerging from the combination of a standard computational mechanism coupled to a differential sensitivity to the presence of DA across the striatum.

Keep focussing: striatal dopamine multiple functions resolved in a single mechanism tested in a simulated humanoid robot.

Effective decision-making, one of the most crucial functions of the brain, entails the analysis of sensory information and the selection of appropriate behavior in response to stimuli. Here, we consider the current state of knowledge on the mechanisms of decision-making and action selection in the insect brain, with emphasis on the olfactory processing system. Theoretical and computational models of decision-making emphasize the importance of using inhibitory connections to couple evidence-accumulating pathways; this coupling allows for effective discrimination between competing alternatives and thus enables a decision maker to reach a stable unitary decision. Theory also shows that the coupling of pathways can be implemented using a variety of different mechanisms and vastly improves the performance of decision-making systems. The vertebrate basal ganglia appear to resolve stable action selection by being a point of convergence for multiple excitatory and inhibitory inputs such that only one possible response is selected and all other alternatives are suppressed. Similar principles appear to operate within the insect brain. The insect lateral protocerebrum (LP) serves as a point of convergence for multiple excitatory and inhibitory channels of olfactory information to effect stable decision and action selection, at least for olfactory information. The LP is a rather understudied region of the insect brain, yet this premotor region may be key to effective resolution of action section. We argue that it may be beneficial to use models developed to explore the operation of the vertebrate brain as inspiration when considering action selection in the invertebrate domain. Such an approach may facilitate the proposal of new hypotheses and furthermore frame experimental studies for how decision-making and action selection might be achieved in insects.

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Decision-making and action selection in insects: inspiration from vertebrate-based theories

A response mechanism takes evaluations of the importance of potential actions and selects the most suitable. Response mechanism function is a nontrivial problem that has not received the attention it deserves within cognitive psychology. In this article, we make a case for the importance of considering response mechanism function as a constraint on cognitive processes and emphasized links with the wider problem of behavioral action selection. First, we show that, contrary to previous suggestions, a well-known model of the Stroop task (Cohen, Dunbar, & McClelland, 1990) relies on the response mechanism for a key feature of its results—the interference—facilitation asymmetry. Second, we examine a variety of response mechanisms (including that in the model of Cohen et al., 1990) and show that they all follow a law analogous to Pieron’s law in relating their input to reaction time. In particular, this is true of a decision mechanism not designed to explain RT data but based on a proposed solution to the general problem of action selection and grounded in the neurobiology of the vertebrate basal ganglia. Finally, we show that the dynamics of simple artificial neurons also support a Pieron-like law.

/pdf/the-role-of-response-mechanisms-in-determining-reaction-time-4t5tn13nbz.pdf

Kevin Gurney

Papers

A basal ganglia inspired model of action selection evaluated in a robotic survival task

An embodied model of action selection mechanisms in the vertebrate brain

Keep focussing: striatal dopamine multiple functions resolved in a single mechanism tested in a simulated humanoid robot.

Decision-making and action selection in insects: inspiration from vertebrate-based theories

The role of response mechanisms in determining reaction time performance: Piéron's law revisited.