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Goal Directed Model Inversion: A Study of Dynamic BehaviorGoal Directed Model Inversion (GDMI) is an algorithm designed to generalize supervised learning to the case where target outputs are not available to the learning system. The output of the learning system becomes the input to some external device or transformation, and only the output of this device or transformation can be compared to a desired target. The fundamental driving mechanism of GDMI is to learn from success. Given that a wrong outcome is achieved, one notes that the action that produced that outcome 0 "would have been right if the outcome had been the desired one." The algorithm then proceeds as follows: (1) store the action that produced the wrong outcome as a "target" (2) redefine the wrong outcome as a desired goal (3) submit the new desired goal to the system (4) compare the new action with the target action and modify the system by using a suitable algorithm for credit assignment (Back propagation in our example) (5) resubmit the original goal. Prior publications by our group in this area focused on demonstrating empirical results based on the inverse kinematic problem for a simulated robotic arm. In this paper we apply the inversion process to much simpler analytic functions in order to elucidate the dynamic behavior of the system and to determine the sensitivity of the learning process to various parameters. This understanding will be necessary for the acceptance of GDMI as a practical tool.
Document ID
20010062302
Acquisition Source
Ames Research Center
Document Type
Conference Paper
Authors
Colombano, Silvano P.
(NASA Ames Research Center Moffett Field, CA United States)
Compton, Michael
(RECOM Technologies, Inc. United States)
Raghavan, Bharathi
(RECOM Technologies, Inc. United States)
Lum, Henry, Jr.
Date Acquired
August 20, 2013
Publication Date
January 1, 1994
Subject Category
Social And Information Sciences (General)
Meeting Information
Meeting: European Simulation Multiconference
Location: Barcelona
Country: Spain
Start Date: June 1, 1994
End Date: June 3, 1994
Funding Number(s)
PROJECT: RTOP 233-03-04
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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