Per-Arne Andersen

Bimal Bhattarai, Ole-Christoffer Granmo, Lei Jiao et al.

In this paper, we introduce a sparse Tsetlin Machine (TM) with absorbing Tsetlin Automata (TA) states. In brief, the TA of each clause literal has both an absorbing Exclude- and an absorbing Include state, making the learning scheme absorbing instead of ergodic. When a TA reaches an absorbing state, it will never leave that state again. If the absorbing state is an Exclude state, both the automaton and the literal can be removed from further consideration. The literal will as a result never participates in that clause. If the absorbing state is an Include state, on the other hand, the literal is stored as a permanent part of the clause while the TA is discarded. A novel sparse data structure supports these updates by means of three action lists: Absorbed Include, Include, and Exclude. By updating these lists, the TM gets smaller and smaller as the literals and their TA withdraw. In this manner, the computation accelerates during learning, leading to faster learning and less energy consumption.

Ole-Christoffer Granmo, Per-Arne Andersen, Lei Jiao et al.

A set of variables is the Markov blanket of a random variable if it contains all the information needed for predicting the variable. If the blanket cannot be reduced without losing useful information, it is called a Markov boundary. Identifying the Markov boundary of a random variable is advantageous because all variables outside the boundary are superfluous. Hence, the Markov boundary provides an optimal feature set. However, learning the Markov boundary from data is challenging for two reasons. If one or more variables are removed from the Markov boundary, variables outside the boundary may start providing information. Conversely, variables within the boundary may stop providing information. The true role of each candidate variable is only manifesting when the Markov boundary has been identified. In this paper, we propose a new Tsetlin Machine (TM) feedback scheme that supplements Type I and Type II feedback. The scheme introduces a novel Finite State Automaton - a Context-Specific Independence Automaton. The automaton learns which features are outside the Markov boundary of the target, allowing them to be pruned from the TM during learning. We investigate the new scheme empirically, showing how it is capable of exploiting context-specific independence to find Markov boundaries. Further, we provide a theoretical analysis of convergence. Our approach thus connects the field of Bayesian networks (BN) with TMs, potentially opening up for synergies when it comes to inference and learning, including TM-produced Bayesian knowledge bases and TM-based Bayesian inference.

Mohamed-Bachir Belaid, Jivitesh Sharma, Lei Jiao et al.

Tsetlin Machines (TMs) have garnered increasing interest for their ability to learn concepts via propositional formulas and their proven efficiency across various application domains. Despite this, the convergence proof for the TMs, particularly for the AND operator (\emph{conjunction} of literals), in the generalized case (inputs greater than two bits) remains an open problem. This paper aims to fill this gap by presenting a comprehensive convergence analysis of Tsetlin automaton-based Machine Learning algorithms. We introduce a novel framework, referred to as Probabilistic Concept Learning (PCL), which simplifies the TM structure while incorporating dedicated feedback mechanisms and dedicated inclusion/exclusion probabilities for literals. Given $n$ features, PCL aims to learn a set of conjunction clauses $C_i$ each associated with a distinct inclusion probability $p_i$. Most importantly, we establish a theoretical proof confirming that, for any clause $C_k$, PCL converges to a conjunction of literals when $0.5<p_k<1$. This result serves as a stepping stone for future research on the convergence properties of Tsetlin automaton-based learning algorithms. Our findings not only contribute to the theoretical understanding of Tsetlin Machines but also have implications for their practical application, potentially leading to more robust and interpretable machine learning models.

Per-Arne Andersen, Morten Goodwin, Ole-Christoffer Granmo

This paper addresses the dire need for a platform that efficiently provides a framework for running reinforcement learning (RL) experiments. We propose the CaiRL Environment Toolkit as an efficient, compatible, and more sustainable alternative for training learning agents and propose methods to develop more efficient environment simulations. There is an increasing focus on developing sustainable artificial intelligence. However, little effort has been made to improve the efficiency of running environment simulations. The most popular development toolkit for reinforcement learning, OpenAI Gym, is built using Python, a powerful but slow programming language. We propose a toolkit written in C++ with the same flexibility level but works orders of magnitude faster to make up for Python's inefficiency. This would drastically cut climate emissions. CaiRL also presents the first reinforcement learning toolkit with a built-in JVM and Flash support for running legacy flash games for reinforcement learning research. We demonstrate the effectiveness of CaiRL in the classic control benchmark, comparing the execution speed to OpenAI Gym. Furthermore, we illustrate that CaiRL can act as a drop-in replacement for OpenAI Gym to leverage significantly faster training speeds because of the reduced environment computation time.

Per-Arne Andersen, Morten Goodwin, Ole-Christoffer Granmo

Reinforcement Learning (RL) is a general framework concerned with an agent that seeks to maximize rewards in an environment. The learning typically happens through trial and error using explorative methods, such as epsilon-greedy. There are two approaches, model-based and model-free reinforcement learning, that show concrete results in several disciplines. Model-based RL learns a model of the environment for learning the policy while model-free approaches are fully explorative and exploitative without considering the underlying environment dynamics. Model-free RL works conceptually well in simulated environments, and empirical evidence suggests that trial and error lead to a near-optimal behavior with enough training. On the other hand, model-based RL aims to be sample efficient, and studies show that it requires far less training in the real environment for learning a good policy. A significant challenge with RL is that it relies on a well-defined reward function to work well for complex environments and such a reward function is challenging to define. Goal-Directed RL is an alternative method that learns an intrinsic reward function with emphasis on a few explored trajectories that reveals the path to the goal state. This paper introduces a novel reinforcement learning algorithm for predicting the distance between two states in a Markov Decision Process. The learned distance function works as an intrinsic reward that fuels the agent's learning. Using the distance-metric as a reward, we show that the algorithm performs comparably to model-free RL while having significantly better sample-efficiently in several test environments.

Per-Arne Andersen, Ole-Christoffer Granmo, Morten Goodwin

Deep Reinforcement Learning (RL) is unquestionably a robust framework to train autonomous agents in a wide variety of disciplines. However, traditional deep and shallow model-free RL algorithms suffer from low sample efficiency and inadequate generalization for sparse state spaces. The options framework with temporal abstractions is perhaps the most promising method to solve these problems, but it still has noticeable shortcomings. It only guarantees local convergence, and it is challenging to automate initiation and termination conditions, which in practice are commonly hand-crafted. Our proposal, the Deep Variational Q-Network (DVQN), combines deep generative- and reinforcement learning. The algorithm finds good policies from a Gaussian distributed latent-space, which is especially useful for defining options. The DVQN algorithm uses MSE with KL-divergence as regularization, combined with traditional Q-Learning updates. The algorithm learns a latent-space that represents good policies with state clusters for options. We show that the DVQN algorithm is a promising approach for identifying initiation and termination conditions for option-based reinforcement learning. Experiments show that the DVQN algorithm, with automatic initiation and termination, has comparable performance to Rainbow and can maintain stability when trained for extended periods after convergence.

Martin Holen, Per-Arne Andersen, Kristian Muri Knausgård et al.

This paper introduces two learning schemes for distributed agents in Reinforcement Learning (RL) environments, namely Reward-Weighted (R-Weighted) and Loss-Weighted (L-Weighted) gradient merger. The R/L weighted methods replace standard practices for training multiple agents, such as summing or averaging the gradients. The core of our methods is to scale the gradient of each actor based on how high the reward (for R-Weighted) or the loss (for L-Weighted) is compared to the other actors. During training, each agent operates in differently initialized versions of the same environment, which gives different gradients from different actors. In essence, the R-Weights and L-Weights of each agent inform the other agents of its potential, which again reports which environment should be prioritized for learning. This approach of distributed learning is possible because environments that yield higher rewards, or low losses, have more critical information than environments that yield lower rewards or higher losses. We empirically demonstrate that the R-Weighted methods work superior to the state-of-the-art in multiple RL environments.

Rahul Jaiswal, Per-Arne Andersen, Linga Reddy Cenkeramaddi et al.

The rapid evolution of digital health technologies is redefining healthcare services worldwide. The integration of wireless communication and Internet-enabled medical devices within Internet of Medical Things (IoMT) networks enables continuous, real-time patient monitoring. However, this increased connectivity raises cybersecurity and patient safety risks due to increasingly sophisticated cyberattacks. This paper proposes a novel on-device, interpretable Tsetlin Machine (TM)-based Intrusion Detection System (IDS) to identify various phases of cyberattacks in IoMT environments. The TM is a rule-driven and transparent machine learning (ML) approach that represents attack patterns using propositional logic. Extensive evaluations on the MedSec-25 dataset, encompassing various phases of realistic cyberattacks, show that the proposed model outperforms ML models and state-of-the-art methods, attaining a classification performance of 97.83\%. Moreover, the proposed model offers explicit explanations of its decisions to enhance transparency using feature-level contributions, class-wise vote scores, and clause activation heatmaps. Edge deployment (Raspberry Pi) further supports real-time on-device inference and intrusion detection. The combination of interpretability and high performance makes the proposed model well-suited for IoMT healthcare, where trust, reliability, safety, and timely decision-making are critical.

Sander Riisøen Jyhne, Per-Arne Andersen, Morten Goodwin

This paper presents Deep Networks for Improved Segmentation Edges (DeNISE), a novel data enhancement technique using edge detection and segmentation models to improve the boundary quality of segmentation masks. DeNISE utilizes the inherent differences in two sequential deep neural architectures to improve the accuracy of the predicted segmentation edge. DeNISE applies to all types of neural networks and is not trained end-to-end, allowing rapid experiments to discover which models complement each other. We test and apply DeNISE for building segmentation in aerial images. Aerial images are known for difficult conditions as they have a low resolution with optical noise, such as reflections, shadows, and visual obstructions. Overall the paper demonstrates the potential for DeNISE. Using the technique, we improve the baseline results with a building IoU of 78.9%.

Sander Riisøen Jyhne, Per-Arne Andersen, Morten Goodwin

This paper presents Contrastive Transformer, a contrastive learning scheme using the Transformer innate patches. Contrastive Transformer enables existing contrastive learning techniques, often used for image classification, to benefit dense downstream prediction tasks such as semantic segmentation. The scheme performs supervised patch-level contrastive learning, selecting the patches based on the ground truth mask, subsequently used for hard-negative and hard-positive sampling. The scheme applies to all vision-transformer architectures, is easy to implement, and introduces minimal additional memory footprint. Additionally, the scheme removes the need for huge batch sizes, as each patch is treated as an image. We apply and test Contrastive Transformer for the case of aerial image segmentation, known for low-resolution data, large class imbalance, and similar semantic classes. We perform extensive experiments to show the efficacy of the Contrastive Transformer scheme on the ISPRS Potsdam aerial image segmentation dataset. Additionally, we show the generalizability of our scheme by applying it to multiple inherently different Transformer architectures. Ultimately, the results show a consistent increase in mean IoU across all classes.

Per-Arne Andersen, Morten Goodwin, Ole-Christoffer Granmo

Reinforcement learning (RL) is an area of research that has blossomed tremendously in recent years and has shown remarkable potential for artificial intelligence based opponents in computer games. This success is primarily due to the vast capabilities of convolutional neural networks, that can extract useful features from noisy and complex data. Games are excellent tools to test and push the boundaries of novel RL algorithms because they give valuable insight into how well an algorithm can perform in isolated environments without the real-life consequences. Real-time strategy games (RTS) is a genre that has tremendous complexity and challenges the player in short and long-term planning. There is much research that focuses on applied RL in RTS games, and novel advances are therefore anticipated in the not too distant future. However, there are to date few environments for testing RTS AIs. Environments in the literature are often either overly simplistic, such as microRTS, or complex and without the possibility for accelerated learning on consumer hardware like StarCraft II. This paper introduces the Deep RTS game environment for testing cutting-edge artificial intelligence algorithms for RTS games. Deep RTS is a high-performance RTS game made specifically for artificial intelligence research. It supports accelerated learning, meaning that it can learn at a magnitude of 50 000 times faster compared to existing RTS games. Deep RTS has a flexible configuration, enabling research in several different RTS scenarios, including partially observable state-spaces and map complexity. We show that Deep RTS lives up to our promises by comparing its performance with microRTS, ELF, and StarCraft II on high-end consumer hardware. Using Deep RTS, we show that a Deep Q-Network agent beats random-play agents over 70% of the time. Deep RTS is publicly available at https://github.com/cair/DeepRTS.

Sander Riisøen Jyhne, Christian Igel, Morten Goodwin et al.

High-resolution imagery is often hindered by limitations in sensor technology, atmospheric conditions, and costs. Such challenges occur in satellite remote sensing, but also with handheld cameras, such as our smartphones. Hence, super-resolution aims to enhance the image resolution algorithmically. Since single-image super-resolution requires solving an inverse problem, such methods must exploit strong priors, e.g. learned from high-resolution training data, or be constrained by auxiliary data, e.g. by a high-resolution guide from another modality. While qualitatively pleasing, such approaches often lead to "hallucinated" structures that do not match reality. In contrast, multi-image super-resolution (MISR) aims to improve the (optical) resolution by constraining the super-resolution process with multiple views taken with sub-pixel shifts. Here, we propose SuperF, a test-time optimization approach for MISR that leverages coordinate-based neural networks, also called neural fields. Their ability to represent continuous signals with an implicit neural representation (INR) makes them an ideal fit for the MISR task. The key characteristic of our approach is to share an INR for multiple shifted low-resolution frames and to jointly optimize the frame alignment with the INR. Our approach advances related INR baselines, adopted from burst fusion for layer separation, by directly parameterizing the sub-pixel alignment as optimizable affine transformation parameters and by optimizing via a super-sampled coordinate grid that corresponds to the output resolution. Our experiments yield compelling results on simulated bursts of satellite imagery and ground-level images from handheld cameras, with upsampling factors of up to 8. A key advantage of SuperF is that this approach does not rely on any high-resolution training data.

Henrik Brådland, Morten Goodwin, Per-Arne Andersen et al.

Document chunking fundamentally impacts Retrieval-Augmented Generation (RAG) by determining how source materials are segmented before indexing. Despite evidence that Large Language Models (LLMs) are sensitive to the layout and structure of retrieved data, there is currently no framework to analyze the impact of different chunking methods. In this paper, we introduce a novel methodology that defines essential characteristics of the chunking process at three levels: intrinsic passage properties, extrinsic passage properties, and passages-document coherence. We propose HOPE (Holistic Passage Evaluation), a domain-agnostic, automatic evaluation metric that quantifies and aggregates these characteristics. Our empirical evaluations across seven domains demonstrate that the HOPE metric correlates significantly (p > 0.13) with various RAG performance indicators, revealing contrasts between the importance of extrinsic and intrinsic properties of passages. Semantic independence between passages proves essential for system performance with a performance gain of up to 56.2% in factual correctness and 21.1% in answer correctness. On the contrary, traditional assumptions about maintaining concept unity within passages show minimal impact. These findings provide actionable insights for optimizing chunking strategies, thus improving RAG system design to produce more factually correct responses.

Rahul Jaiswal, Per-Arne Andersen, Linga Reddy Cenkeramaddi et al.

The rapid adoption of the Internet of Medical Things (IoMT) is transforming healthcare by enabling seamless connectivity among medical devices, systems, and services. However, it also introduces serious cybersecurity and patient safety concerns as attackers increasingly exploit new methods and emerging vulnerabilities to infiltrate IoMT networks. This paper proposes a novel Tsetlin Machine (TM)-based Intrusion Detection System (IDS) for detecting a wide range of cyberattacks targeting IoMT networks. The TM is a rule-based and interpretable machine learning (ML) approach that models attack patterns using propositional logic. Extensive experiments conducted on the CICIoMT-2024 dataset, which includes multiple IoMT protocols and cyberattack types, demonstrate that the proposed TM-based IDS outperforms traditional ML classifiers. The proposed model achieves an accuracy of 99.5\% in binary classification and 90.7\% in multi-class classification, surpassing existing state-of-the-art approaches. Moreover, to enhance model trust and interpretability, the proposed TM-based model presents class-wise vote scores and clause activation heatmaps, providing clear insights into the most influential clauses and the dominant class contributing to the final model decision.

Vojtech Halenka, Mohammadreza Amini, Per-Arne Andersen et al.

All applications in fifth-generation (5G) networks rely on stable radio-frequency (RF) environments to support mission-critical services in mobility, automation, and connected intelligence. Their exposure to intentional interference or low-power jamming threatens availability and reliability, especially when such attacks remain below link-layer observability. This paper investigates lightweight, explainable, and hardware-efficient jamming detection using the Convolutional Tsetlin Machine (CTM) operating directly on 5G Synchronization Signal Block (SSB) features. CTM formulates Boolean logic clauses over quantized inputs, enabling bit-level inference and deterministic deployment on FPGA fabrics. These properties make CTM well suited for real-time, resource-constrained edge environments anticipated in 5G. The proposed approach is experimentally validated on a real 5G testbed using over-the-air SSB data, emulating practical downlink conditions. We benchmark CTM against a convolutional neural network (CNN) baseline under identical preprocessing and training pipelines. On the real dataset, CTM achieves comparable detection performance (Accuracy 91.53 +/- 1.01 vs. 96.83 +/- 1.19 for CNN) while training $9.5\times$ faster and requiring 14x less memory (45~MB vs.\ 624~MB). Furthermore, we outline a compact FPGA-oriented design for Zybo~Z7 (Zynq-7000) and provide resource projections (not measured) under three deployment profiles optimized for latency, power, and accuracy trade-offs. The results show that the CTM provides a practical, interpretable, and resource-efficient alternative to conventional DNNs for RF-domain jamming detection, establishing it as a strong candidate for edge-deployed, low-latency, and security-critical 5G applications while laying the groundwork for B5G systems.

Henrik Bradland, Morten Goodwin, Vladimir I. Zadorozhny et al.

The performance of machine learning models on tabular data is critically dependent on high-quality feature engineering. While Large Language Models (LLMs) have shown promise in automating feature extraction (AutoFE), existing methods are often limited by monolithic LLM architectures, simplistic quantitative feedback, and a failure to systematically integrate external domain knowledge. This paper introduces Rogue One, a novel, LLM-based multi-agent framework for knowledge-informed automatic feature extraction. Rogue One operationalizes a decentralized system of three specialized agents-Scientist, Extractor, and Tester-that collaborate iteratively to discover, generate, and validate predictive features. Crucially, the framework moves beyond primitive accuracy scores by introducing a rich, qualitative feedback mechanism and a "flooding-pruning" strategy, allowing it to dynamically balance feature exploration and exploitation. By actively incorporating external knowledge via an integrated retrieval-augmented (RAG) system, Rogue One generates features that are not only statistically powerful but also semantically meaningful and interpretable. We demonstrate that Rogue One significantly outperforms state-of-the-art methods on a comprehensive suite of 19 classification and 9 regression datasets. Furthermore, we show qualitatively that the system surfaces novel, testable hypotheses, such as identifying a new potential biomarker in the myocardial dataset, underscoring its utility as a tool for scientific discovery.

Vojtech Halenka, Ole-Christoffer Granmo, Lei Jiao et al.

Feature Selection (FS) is crucial for improving model interpretability, reducing complexity, and sometimes for enhancing accuracy. The recently introduced Tsetlin machine (TM) offers interpretable clause-based learning, but lacks established tools for estimating feature importance. In this paper, we adapt and evaluate a range of FS techniques for TMs, including classical filter and embedded methods as well as post-hoc explanation methods originally developed for neural networks (e.g., SHAP and LIME) and a novel family of embedded scorers derived from TM clause weights and Tsetlin automaton (TA) states. We benchmark all methods across 12 datasets, using evaluation protocols, like Remove and Retrain (ROAR) strategy and Remove and Debias (ROAD), to assess causal impact. Our results show that TM-internal scorers not only perform competitively but also exploit the interpretability of clauses to reveal interacting feature patterns. Simpler TM-specific scorers achieve similar accuracy retention at a fraction of the computational cost. This study establishes the first comprehensive baseline for FS in TM and paves the way for developing specialized TM-specific interpretability techniques.

Ole-Christoffer Granmo, Youmna Abdelwahab, Per-Arne Andersen et al.

Pattern recognition with concise and flat AND-rules makes the Tsetlin Machine (TM) both interpretable and efficient, while the power of Tsetlin automata enables accuracy comparable to deep learning on an increasing number of datasets. We introduce the Graph Tsetlin Machine (GraphTM) for learning interpretable deep clauses from graph-structured input. Moving beyond flat, fixed-length input, the GraphTM gets more versatile, supporting sequences, grids, relations, and multimodality. Through message passing, the GraphTM builds nested deep clauses to recognize sub-graph patterns with exponentially fewer clauses, increasing both interpretability and data utilization. For image classification, GraphTM preserves interpretability and achieves 3.86%-points higher accuracy on CIFAR-10 than a convolutional TM. For tracking action coreference, faced with increasingly challenging tasks, GraphTM outperforms other reinforcement learning methods by up to 20.6%-points. In recommendation systems, it tolerates increasing noise to a greater extent than a Graph Convolutional Neural Network (GCN), e.g., for noise ratio 0.1, GraphTM obtains accuracy 89.86% compared to GCN's 70.87%. Finally, for viral genome sequence data, GraphTM is competitive with BiLSTM-CNN and GCN accuracy-wise, training 2.5x faster than GCN. The GraphTM's application to these varied fields demonstrates how graph representation learning and deep clauses bring new possibilities for TM learning.

Vojtech Halenka, Ahmed K. Kadhim, Paul F. A. Clarke et al.

Tsetlin machines (TMs) have been successful in several application domains, operating with high efficiency on Boolean representations of the input data. However, Booleanizing complex data structures such as sequences, graphs, images, signal spectra, chemical compounds, and natural language is not trivial. In this paper, we propose a hypervector (HV) based method for expressing arbitrarily large sets of concepts associated with any input data. Using a hyperdimensional space to build vectors drastically expands the capacity and flexibility of the TM. We demonstrate how images, chemical compounds, and natural language text are encoded according to the proposed method, and how the resulting HV-powered TM can achieve significantly higher accuracy and faster learning on well-known benchmarks. Our results open up a new research direction for TMs, namely how to expand and exploit the benefits of operating in hyperspace, including new booleanization strategies, optimization of TM inference and learning, as well as new TM applications.

Per-Arne Andersen, Morten Goodwin, Ole-Christoffer Granmo

Deep reinforcement learning has over the past few years shown great potential in learning near-optimal control in complex simulated environments with little visible information. Rainbow (Q-Learning) and PPO (Policy Optimisation) have shown outstanding performance in a variety of tasks, including Atari 2600, MuJoCo, and Roboschool test suite. While these algorithms are fundamentally different, both suffer from high variance, low sample efficiency, and hyperparameter sensitivity that in practice, make these algorithms a no-go for critical operations in the industry. On the other hand, model-based reinforcement learning focuses on learning the transition dynamics between states in an environment. If these environment dynamics are adequately learned, a model-based approach is perhaps the most sample efficient method for learning agents to act in an environment optimally. The traits of model-based reinforcement are ideal for real-world environments where sampling is slow and for mission-critical operations. In the warehouse industry, there is an increasing motivation to minimise time and to maximise production. Currently, autonomous agents act suboptimally using handcrafted policies for significant portions of the state-space. In this paper, we present The Dreaming Variational Autoencoder v2 (DVAE-2), a model-based reinforcement learning algorithm that increases sample efficiency, hence enable algorithms with low sample efficiency function better in real-world environments. We introduce Deep Warehouse, a simulated environment for industry-near testing of autonomous agents in grid-based warehouses. Finally, we illustrate that DVAE-2 improves the sample efficiency for the Deep Warehouse compared to model-free methods.

Jivitesh Sharma, Per-Arne Andersen, Ole-Chrisoffer Granmo et al.

We focus on the important problem of emergency evacuation, which clearly could benefit from reinforcement learning that has been largely unaddressed. Emergency evacuation is a complex task which is difficult to solve with reinforcement learning, since an emergency situation is highly dynamic, with a lot of changing variables and complex constraints that makes it difficult to train on. In this paper, we propose the first fire evacuation environment to train reinforcement learning agents for evacuation planning. The environment is modelled as a graph capturing the building structure. It consists of realistic features like fire spread, uncertainty and bottlenecks. We have implemented the environment in the OpenAI gym format, to facilitate future research. We also propose a new reinforcement learning approach that entails pretraining the network weights of a DQN based agents to incorporate information on the shortest path to the exit. We achieved this by using tabular Q-learning to learn the shortest path on the building model's graph. This information is transferred to the network by deliberately overfitting it on the Q-matrix. Then, the pretrained DQN model is trained on the fire evacuation environment to generate the optimal evacuation path under time varying conditions. We perform comparisons of the proposed approach with state-of-the-art reinforcement learning algorithms like PPO, VPG, SARSA, A2C and ACKTR. The results show that our method is able to outperform state-of-the-art models by a huge margin including the original DQN based models. Finally, we test our model on a large and complex real building consisting of 91 rooms, with the possibility to move to any other room, hence giving 8281 actions. We use an attention based mechanism to deal with large action spaces. Our model achieves near optimal performance on the real world emergency environment.

Per-Arne Andersen, Morten Goodwin, Ole-Christoffer Granmo

Reinforcement learning has shown great potential in generalizing over raw sensory data using only a single neural network for value optimization. There are several challenges in the current state-of-the-art reinforcement learning algorithms that prevent them from converging towards the global optima. It is likely that the solution to these problems lies in short- and long-term planning, exploration and memory management for reinforcement learning algorithms. Games are often used to benchmark reinforcement learning algorithms as they provide a flexible, reproducible, and easy to control environment. Regardless, few games feature a state-space where results in exploration, memory, and planning are easily perceived. This paper presents The Dreaming Variational Autoencoder (DVAE), a neural network based generative modeling architecture for exploration in environments with sparse feedback. We further present Deep Maze, a novel and flexible maze engine that challenges DVAE in partial and fully-observable state-spaces, long-horizon tasks, and deterministic and stochastic problems. We show initial findings and encourage further work in reinforcement learning driven by generative exploration.

Per-Arne Andersen

Reinforcement Learning (RL) is a research area that has blossomed tremendously in recent years and has shown remarkable potential for artificial intelligence based opponents in computer games. This success is primarily due to vast capabilities of Convolutional Neural Networks (ConvNet), enabling algorithms to extract useful information from noisy environments. Capsule Network (CapsNet) is a recent introduction to the Deep Learning algorithm group and has only barely begun to be explored. The network is an architecture for image classification, with superior performance for classification of the MNIST dataset. CapsNets have not been explored beyond image classification. This thesis introduces the use of CapsNet for Q-Learning based game algorithms. To successfully apply CapsNet in advanced game play, three main contributions follow. First, the introduction of four new game environments as frameworks for RL research with increasing complexity, namely Flash RL, Deep Line Wars, Deep RTS, and Deep Maze. These environments fill the gap between relatively simple and more complex game environments available for RL research and are in the thesis used to test and explore the CapsNet behavior. Second, the thesis introduces a generative modeling approach to produce artificial training data for use in Deep Learning models including CapsNets. We empirically show that conditional generative modeling can successfully generate game data of sufficient quality to train a Deep Q-Network well. Third, we show that CapsNet is a reliable architecture for Deep Q-Learning based algorithms for game AI. A capsule is a group of neurons that determine the presence of objects in the data and is in the literature shown to increase the robustness of training and predictions while lowering the amount training data needed. It should, therefore, be ideally suited for game plays.

Per-Arne Andersen, Morten Goodwin, Ole-Christoffer Granmo

Reinforcement Learning (RL) is a research area that has blossomed tremendously in recent years and has shown remarkable potential in among others successfully playing computer games. However, there only exists a few game platforms that provide diversity in tasks and state-space needed to advance RL algorithms. The existing platforms offer RL access to Atari- and a few web-based games, but no platform fully expose access to Flash games. This is unfortunate because applying RL to Flash games have potential to push the research of RL algorithms. This paper introduces the Flash Reinforcement Learning platform (FlashRL) which attempts to fill this gap by providing an environment for thousands of Flash games on a novel platform for Flash automation. It opens up easy experimentation with RL algorithms for Flash games, which has previously been challenging. The platform shows excellent performance with as little as 5% CPU utilization on consumer hardware. It shows promising results for novel reinforcement learning algorithms.

Per-Arne Andersen, Morten Goodwin, Ole-Christoffer Granmo

There have been numerous breakthroughs with reinforcement learning in the recent years, perhaps most notably on Deep Reinforcement Learning successfully playing and winning relatively advanced computer games. There is undoubtedly an anticipation that Deep Reinforcement Learning will play a major role when the first AI masters the complicated game plays needed to beat a professional Real-Time Strategy game player. For this to be possible, there needs to be a game environment that targets and fosters AI research, and specifically Deep Reinforcement Learning. Some game environments already exist, however, these are either overly simplistic such as Atari 2600 or complex such as Starcraft II from Blizzard Entertainment. We propose a game environment in between Atari 2600 and Starcraft II, particularly targeting Deep Reinforcement Learning algorithm research. The environment is a variant of Tower Line Wars from Warcraft III, Blizzard Entertainment. Further, as a proof of concept that the environment can harbor Deep Reinforcement algorithms, we propose and apply a Deep Q-Reinforcement architecture. The architecture simplifies the state space so that it is applicable to Q-learning, and in turn improves performance compared to current state-of-the-art methods. Our experiments show that the proposed architecture can learn to play the environment well, and score 33% better than standard Deep Q-learning which in turn proves the usefulness of the game environment.

Per-Arne Andersen, Christian Kråkevik, Morten Goodwin et al.

With the increasing popularity of online learning, intelligent tutoring systems are regaining increased attention. In this paper, we introduce adaptive algorithms for personalized assignment of learning tasks to student so that to improve his performance in online learning environments. As main contribution of this paper, we propose a a novel Skill-Based Task Selector (SBTS) algorithm which is able to approximate a student's skill level based on his performance and consequently suggest adequate assignments. The SBTS is inspired by the class of multi-armed bandit algorithms. However, in contrast to standard multi-armed bandit approaches, the SBTS aims at acquiring two criteria related to student learning, namely: which topics should the student work on, and what level of difficulty should the task be. The SBTS centers on innovative reward and punishment schemes in a task and skill matrix based on the student behaviour. To verify the algorithm, the complex student behaviour is modelled using a neighbour node selection approach based on empirical estimations of a students learning curve. The algorithm is evaluated with a practical scenario from a basic java programming course. The SBTS is able to quickly and accurately adapt to the composite student competency --- even with a multitude of student models.