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A key component to the recent success of reinforcement learning is the introduction of neural networks for representation learning. Doing so allows for solving challenging problems in several domains, one of which is robotics. However, a major criticism of deep reinforcement learning (DRL) algorithms is their lack of explainability and interpretability. This problem is even exacerbated in robotics as they oftentimes cohabitate space with humans, making it imperative to be able to reason about their behavior. In this paper, we propose to analyze the learned representation in a robotic setting by utilizing Graph Networks (GNs). Using the GN and Layer-wise Relevance Propagation (LRP), we represent the observations as an entity-relationship to allow us to interpret the learned policy. We evaluate our approach in two environments in MuJoCo. These two environments were delicately designed to effectively measure the value of knowledge gained by our approach to analyzing learned representations. This approach allows us to analyze not only how different parts of the observation space contribute to the decision-making process but also differentiate between policies and their differences in performance. This difference in performance also allows for reasoning about the agent's recovery from faults. These insights are key contributions to explainable deep reinforcement learning in robotic settings. [ABSTRACT FROM AUTHOR]

In this paper, a new sequential learning algorithm is constructed by combining the Online Sequential Extreme Learning Machine (OS-ELM) and Kalman filter regression. The Kalman Online Sequential Extreme Learning Machine (KOSELM) handles the problem of multicollinearity of the OS-ELM, which can generate poor predictions and unstable models. The KOSELM learns the training data one-by-one or chunk-by-chunk by adjusting the variance of the output weights through the Kalman filter. The performance of the proposed algorithm has been validated on benchmark regression datasets, and the results show that KOSELM can achieve a higher learning accuracy than OS-ELM and its related extensions. A statistical validation for the differences of the accuracy for all algorithms is performed, and the results confirm that KOSELM has better stability than ReOS-ELM, TOSELM and LS-IELM. [ABSTRACT FROM AUTHOR]

Abstract: Traditional cross-domain learning methods transfer learning from a source domain to a target domain. In this paper, we propose the multiple-domain learning problem for several equally treated domains. The multiple-domain learning problem assumes that samples from different domains have different distributions, but share the same feature and class label spaces. Each domain could be a target domain, while also be a source domain for other domains. A novel multiple-domain representation method is proposed for the multiple-domain learning problem. This method is based on nonnegative matrix factorization (NMF), and tries to learn a basis matrix and coding vectors for samples, so that the domain distribution mismatch among different domains will be reduced under an extended variation of the maximum mean discrepancy (MMD) criterion. The novel algorithm — multiple-domain NMF (MDNMF) — was evaluated on two challenging multiple-domain learning problems — multiple user spam email detection and multiple-domain glioma diagnosis. The effectiveness of the proposed algorithm is experimentally verified. [Copyright &y& Elsevier]