Navigating complex decision spaces: Problems and paradigms in sequential choice.

The Wisconsin Card Sorting Test (WCST) is considered a gold standard for the assessment of cognitive flexibility. On the WCST, repeating a sorting category following negative feedback is typically treated as indicating reduced cognitive flexibility. Therefore such responses are referred to as ‘perseveration’ errors. Recent research suggests that the propensity for perseveration errors is modulated by response demands: They occur less frequently when their commitment repeats the previously executed response. Here, we propose parallel reinforcement-learning models of card sorting performance, which assume that card sorting performance can be conceptualized as resulting from model-free reinforcement learning at the level of responses that occurs in parallel with model-based reinforcement learning at the categorical level. We compared parallel reinforcement-learning models with purely model-based reinforcement learning, and with the state-of-the-art attentional-updating model. We analyzed data from 375 participants who completed a computerized WCST. Parallel reinforcement-learning models showed best predictive accuracies for the majority of participants. Only parallel reinforcement-learning models accounted for the modulation of perseveration propensity by response demands. In conclusion, parallel reinforcement-learning models provide a new theoretical perspective on card sorting and it offers a suitable framework for discerning individual differences in latent processes that subserve behavioral flexibility.

Arbitration between model-based (MB) and model-free (MF) reinforcement learning (RL) is key feature of human reinforcement learning. The computational model of arbitration control has been demonstrated to outperform conventional reinforcement learning algorithm, in terms of not only behavioral data but also neural signals. However, this arbitration process does not take full account of contextual changes in environment during learning. By incorporating a Dirichlet process Gaussian mixture model into the arbitration process, we propose a meta-controller for RL that quickly adapts to contextual changes of environment. The proposed model performs better than a conventional model-free RL, model-based RL, and arbitration model.

Deep reinforcement learning is the technology of artificial neural networks in the field of decision-making and control. The traditional model-free reinforcement learning algorithm requires a large amount of environment interactive data to iterate the algorithm. This model’s performance also suffers due to low utilization of training data, while the model-based reinforcement learning (MBRL) algorithm improves the efficiency of the data, MBRL locks into low prediction accuracy. Although MBRL can utilize the additional data generated by the dynamic model, a system dynamics model with low prediction accuracy will provide low-quality data and affect the algorithm’s final result. In this paper, based on the A3C (Asynchronous Advantage Actor-Critic) algorithm, an improved model-based deep reinforcement learning algorithm using a learning degree network (MBRL-LDN) is presented. By comparing the differences between the predicted states outputted by the proposed multidynamic model and the original predicted states, the learning degree of the system dynamics model is calculated. The learning degree represents the quality of the data generated by the dynamic model and is used to decide whether to continue to interact with the dynamic model during a particular episode. Thus, low-quality data will be discarded. The superiority of the proposed method is verified by conducting extensive contrast experiments.

Reinforcement learning (RL) is one of the popular methods for intelligent control and decision making in the field of robotics recently. The goal of RL is to learn an optimal policy of the agent by interacting with the environment via trail and error. There are two main algorithms for RL problems, including model-free and model-based methods. Model-free RL is driven by historical trajectories and empirical data of the agent to optimize the policy, which needs to take actions in the environment to collect the trajectory data and may cause the damage of the robot during training in the real environment. The main different between model-based and model-free RL is that a model of the transition probability in the interaction environment is employed. Thus the agent can search the optimal policy through internal simulation. However, the model of the transition probability is usually estimated from historical data in a single environment with statistical errors. Therefore, an issue is faced by the agent is that the optimal policy is sensitive to perturbations in the model of the environment which can lead to serious degradation in performance. Robust RL aims to learn a robust optimal policy that accounts for model uncertainty of the transition probability to systematically mitigate the sensitivity of the optimal policy in perturbed environments. In this overview, we begin with an introduction to the algorithms in RL, then focus on the model uncertainty of the transition probability in robust RL. In parallel, we highlight the current research and challenges of robust RL for robot control. To conclude, we describe some research areas in robust RL and look ahead to the future work about robot control in complex environments.

Recent evidence in neuroscience and psychology suggests that a single reinforcement learning (RL) algorithm only accounts for less than 60% of the variance of human choice behavior in an uncertain and dynamic environment, where the amount of uncertainty in state-action-state transitions drift over time. The prediction performance further decreases when the size of the state space increases. We proposed a hierarchical context-dependent RL control framework that dynamically exerted control weights on model-based (MB) and multiple model-free (MF) RL strategies associated with different task goals. To properly assess the validity of the proposed method, we considered a two-stage Markov decision task (MDT) in which the three different types of context changed over time. We trained 57 different RL control models on a Caltech MDT data set; then, we assessed their prediction performance using a Bayesian model comparison. This large-scale computer simulation analysis revealed that the model providing the most accurate prediction was the version that implemented the competition between the MB and multiple goal-dependent MF RL strategies. The present study demonstrates the applicability of the goal-driven RL control to a variety of real-world human-robot interaction scenarios.

Animals integrate knowledge about how the state of the environment evolves to choose actions that maximise reward. Such goal-directed behaviour - or model-based (MB) reinforcement learning (RL) - can flexibly adapt choice to changes, being thus distinct from simpler habitual - or model-free (MF) RL - strategies. Previous inactivation and neuroimaging work implicates prefrontal cortex (PFC) and the caudate striatal region in MB-RL; however, details are scarce about its implementation at the single-neuron level. Here, we recorded from two PFC regions – the dorsal anterior cingulate cortex (ACC) and dorsolateral PFC (DLPFC), and two striatal regions, caudate and putamen – while two rhesus macaques performed a sequential decision-making (two-step) task in which MB-RL involves knowledge about the statistics of reward and state transitions. All four regions, but particularly the ACC, encoded the rewards received and tracked the probabilistic state transitions that occurred. However, ACC (and to a lesser extent caudate) encoded the key variables of the task - namely the interaction between reward, transition and choice – which underlies MB decision-making. ACC and caudate neurons also encoded MB-derived estimates of choice values. Moreover, caudate value estimates of the choice options flipped when a rare transition occurred, demonstrating value update based on structural knowledge of the task. The striatal regions were unique (relative to PFC) in encoding the current and previous rewards with opposing polarities, reminiscent of dopaminergic neurons, and indicative of a MF prediction error. Our findings provide a deeper understanding of selective and temporally dissociable neural mechanisms underlying goal-directed behaviour.

Depression is characterized by deficits in the reinforcement learning (RL) process. Although many computational and neural studies have extended our knowledge of the impact of depression on RL, most focus on habitual control (model-free RL), yielding a relatively poor understanding of goal-directed control (model-based RL) and arbitration control to find a balance between the two. We investigated the effects of subclinical depression on model-based and model-free learning in the prefrontal–striatal circuitry. First, we found that subclinical depression is associated with the attenuated state and reward prediction error representation in the insula and caudate. Critically, we found that it accompanies the disrupted arbitration control between model-based and model-free learning in the predominantly inferior lateral prefrontal cortex and frontopolar cortex. We also found that depression undermines the ability to exploit viable options, called exploitation sensitivity. These findings characterize how subclinical depression influences different levels of the decision-making hierarchy, advancing previous conflicting views that depression simply influences either habitual or goal-directed control. Our study creates possibilities for various clinical applications, such as early diagnosis and behavioral therapy design.

It is now widely accepted that instrumental actions can be either goal-directed or habitual; whereas the former are rapidly acquired and regulated by their outcome, the latter are reflexive, elicited by antecedent stimuli rather than their consequences. Model-based reinforcement learning (RL) provides an elegant description of goal-directed action. Through exposure to states, actions and rewards, the agent rapidly constructs a model of the world and can choose an appropriate action based on quite abstract changes in environmental and evaluative demands. This model is powerful but has a problem explaining the development of habitual actions. To account for habits, theorists have argued that another action controller is required, called model-free RL, that does not form a model of the world but rather caches action values within states allowing a state to select an action based on its reward history rather than its consequences. Nevertheless, there are persistent problems with important predictions from the model; most notably the failure of model-free RL correctly to predict the insensitivity of habitual actions to changes in the action-reward contingency. Here, we suggest that introducing model-free RL in instrumental conditioning is unnecessary, and demonstrate that reconceptualizing habits as action sequences allows model-based RL to be applied to both goal-directed and habitual actions in a manner consistent with what real animals do. This approach has significant implications for the way habits are currently investigated and generates new experimental predictions.

Distributed Coding of Actual and Hypothetical Outcomes in the Orbital and Dorsolateral Prefrontal Cortex

Fuzzy-based predictive deep reinforcement learning for robust and constrained optimal control of industrial solar thermal plants

Cingulotomy is therapeutic in OCD, but what are the possible mechanisms? Computer models that formalize cortical OCD abnormalities and anterior cingulate cortex (ACC) function can help answer this. At the neural dynamics level, cortical dynamics in OCD have been modeled using attractor networks, where activity patterns resistant to change denote the inability to switch to new patterns, which can reflect inflexible thinking patterns or behaviors. From that perspective, cingulotomy might reduce the influence of difficult-to-escape ACC attractor dynamics on other cortical areas. At the functional level, computer formulations based on model-free reinforcement learning (RL) have been used to describe the multitude of phenomena ACC is involved in, such as tracking the timing of expected outcomes and estimating the cost of exerting cognitive control and effort. Different elements of model-free RL models of ACC could be affected by the inflexible cortical dynamics, making it challenging to update their values. An agent can also use a world model, a representation of how the states of the world change, to plan its actions, through model-based RL. OCD has been hypothesized to be driven by reduced certainty of how the brain’s world model describes changes. Cingulotomy might improve such uncertainties about the world and one’s actions, making it possible to trust the outcomes of these actions more and thus reduce the urge to collect more sensory information in the form of compulsions. Connecting the neural dynamics models with the functional formulations can provide new ways of understanding the role of ACC in OCD, with potential therapeutic insights.

In this paper, an intelligent multi-microgrid (MMG) energy management method is proposed based on deep neural network (DNN) and model-free reinforcement learning (RL) techniques. In the studied problem, multiple microgrids are connected to a main distribution system and they purchase power from the distribution system to maintain local consumption. From the perspective of the distribution system operator (DSO), the target is to decrease the demand-side peak-to-average ratio (PAR), and to maximize the profit from selling energy. To protect user privacy, DSO learns the MMG response by implementing a DNN without direct access to user's information. Further, the DSO selects its retail pricing strategy via a Monte Carlo method from RL, which optimizes the decision based on prediction. The simulation results from the proposed data-driven deep learning method, as well as comparisons with conventional model-based methods, substantiate the effectiveness of the proposed approach in solving power system problems with partial or uncertain information.

Model-based reinforcement learning (MBRL) aims to promote sample efficiency and reduce the number of interactions with the true environment, via learning an environment dynamic model, compared with model-free reinforcement learning (MFRL). However, the success of MBRL heavily relies on two key aspects: model learning and planning. The former refers to learning an accurate model, and the latter aims to improve the behavior policy. In this article, we investigate these two aspects further with model ensemble learning. We design a deep residual attention U-Net (RauNet) with fewer neurons (or weights) than the widely used shallow neural network as our base models and further apply the Hilbert–Schmidt independence criterion (HSIC) as a regularization term to pursue model diversity explicitly for the model ensemble. Furthermore, we propose an adaptive trust region policy optimization (TRPO), in which the parametric Rényi alpha divergence substitutes for the Kullback–Leibler (KL) divergence for measuring the difference between two successive policies, and the alpha value can be adaptively adjusted during TRPO training iterations. This method is called diversity-driven model ensemble adaptive TRPO, or simply diversity-driven model ensemble adaptive trust region policy optimization. Our detailed experiments on six benchmark environments show that our proposed approach is optimal, compared with five state-of-the-art RL techniques.

We propose a novel physics-informed Deep Operator Network (DON), termed Pi-DON, for modeling the thermal dynamics of building clusters. Unlike conventional approaches requiring extensive metadata or separate models per structure, Pi-DON learns a unified operator that solves the differential equations of resistance–capacitance (RC) models representing three single-zone buildings with two-state thermal dynamics, directly from simulated data. This enables accurate predictions of indoor and envelope temperatures across varying thermal inertia. Moreover, Pi-DON provides rapid inference and enhanced sample efficiency, reducing the costly real-world interactions needed in model-free reinforcement learning (RL), making it well-suited for model-based control strategies such as model-predictive control (MPC) and model-based RL. Experimental results show Pi-DON learns the RC model’s solution operator with 99\% accuracy, outperforming both a purely data-driven DON and an LSTM-based deep neural network model.

Although model-free reinforcement learning methods are illustrated to own abilities to learn a wide range of control and decision-making tasks, it is time-consuming and needs a huge number of samples to learn optimal policy. Therefore, model-based reinforcement learning algorithms are always treated as the most efficient ways to settle robotic control problems. In this work, a model-based reinforcement learning tracking control method with free energy is proposed. The control objective is to make sure that the proposed controller can let a robotic manipulator with parameters uncertainties and disturbance follow the desired trajectory and obtain good tracking performance. The main contribution of this work is to employ the free energy principle to optimize the problem of robotic control. The probability distribution of robotic dynamic model is learnt by a evolving neural network, a free energy based reinforcement learning control method uses the learnt model to find optimal control policy. The experiment results demonstrate that the proposed tracking control method is effective in solving robotic tracking control problems.