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Autonomous aircraft

An autonomous aircraft is an aircraft which flies under the control of on-board autonomous robotic systems and needs no intervention from a human pilot or remote control. Most contemporary autonomous aircraft are unmanned aerial vehicles (drones) with pre-programmed algorithms to perform designated tasks, but advancements in artificial intelligence technologies (e.g. machine learning) mean that autonomous control systems are reaching a point where several air taxis and associated regulatory regimes are being developed. == History == === Unmanned aerial vehicles === The earliest recorded use of an unmanned aerial vehicle for warfighting occurred in July 1849, serving as a balloon carrier (the precursor to the aircraft carrier) Significant development of radio-controlled drones started in the early 1900s, and originally focused on providing practice targets for training military personnel. The earliest attempt at a powered UAV was A. M. Low's "Aerial Target" in 1916. Autonomous features such as the autopilot and automated navigation were developed progressively through the twentieth century, although techniques such as terrain contour matching (TERCOM) were applied mainly to cruise missiles. Before the introduction of the Bayraktar Kızılelma some modern drones have a high degree of autonomy, although they were not fully capable and the regulatory environment prohibits their widespread use in civil aviation. However some limited trials had been undertaken. On December 17, 2025, two Bayraktar Kızılelma performed the world's first autonomous close-formation flight by two unmanned fighter jets, using artificial intelligence. This was the first time in the history of aviation when two unmanned aerial vehicles flew in close formation on their own. === Passengers === As flight, navigation and communications systems have become more sophisticated, safely carrying passengers has emerged as a practical possibility. Autopilot systems are relieving the human pilot of progressively more duties, but the pilot currently remains necessary. A number of air taxis are under development and larger autonomous transports are also being planned. The personal air vehicle is another class where from one to four passengers are not expected to be able to pilot the aircraft and autonomy is seen as necessary for widespread adoption. == Control system architecture == The computing capability of aircraft flight and navigation systems followed the advances of computing technology, beginning with analog controls and evolving into microcontrollers, then system-on-a-chip (SOC) and single-board computers (SBC). === Sensors === Position and movement sensors give information about the aircraft state. Exteroceptive sensors deal with external information like distance measurements, while proprioceptive ones correlate internal and external states. Degrees of freedom (DOF) refers to both the amount and quality of sensors on board: 6 DOF implies 3-axis gyroscopes and accelerometers (a typical inertial measurement unit – IMU), 9 DOF refers to an IMU plus a compass, 10 DOF adds a barometer and 11 DOF usually adds a GPS receiver. === Actuators === UAV actuators include digital electronic speed controllers (which control the RPM of the motors) linked to motors/engines and propellers, servomotors (for planes and helicopters mostly), weapons, payload actuators, LEDs and speakers. === Software === UAV software called the flight stack or autopilot. The purpose of the flight stack is to obtain data from sensors, control motors to ensure UAV stability, and facilitate ground control and mission planning communication. UAVs are real-time systems that require rapid response to changing sensor data. As a result, UAVs rely on single-board computers for their computational needs. Examples of such single-board computers include Raspberry Pis, Beagleboards, etc. shielded with NavIO, PXFMini, etc. or designed from scratch such as NuttX, preemptive-RT Linux, Xenomai, Orocos-Robot Operating System or DDS-ROS 2.0. Civil-use open-source stacks include: Due to the open-source nature of UAV software, they can be customized to fit specific applications. For example, researchers from the Technical University of Košice have replaced the default control algorithm of the PX4 autopilot. This flexibility and collaborative effort has led to a large number of different open-source stacks, some of which are forked from others, such as CleanFlight, which is forked from BaseFlight and from which three other stacks are forked from. === Loop principles === UAVs employ open-loop, closed-loop or hybrid control architectures. Open loop – This type provides a positive control signal (faster, slower, left, right, up, down) without incorporating feedback from sensor data. Closed loop – This type incorporates sensor feedback to adjust behavior (reduce speed to reflect tailwind, move to altitude 300 feet). The PID controller is common. Sometimes, feedforward is employed, transferring the need to close the loop further. == Communications == Most UAVs use a radio for remote control and exchange of video and other data. Early UAVs had only narrowband uplink. Downlinks came later. These bi-directional narrowband radio links carried command and control (C&C) and telemetry data about the status of aircraft systems to the remote operator. For very long range flights, military UAVs also use satellite receivers as part of satellite navigation systems. In cases when video transmission was required, the UAVs will implement a separate analog video radio link. In most modern autonomous applications, video transmission is required. A broadband link is used to carry all types of data on a single radio link. These broadband links can leverage quality of service techniques to optimize the C&C traffic for low latency. Usually, these broadband links carry TCP/IP traffic that can be routed over the Internet. Communications can be established with: Ground control – a military ground control station (GCS). The MAVLink protocol is increasingly becoming popular to carry command and control data between the ground control and the vehicle. Remote network system, such as satellite duplex data links for some military powers. Downstream digital video over mobile networks has also entered consumer markets, while direct UAV control uplink over the cellular mesh and LTE have been demonstrated and are in trials. Another aircraft, serving as a relay or mobile control station – military manned-unmanned teaming (MUM-T). As mobile networks have increased in performance and reliability over the years, drones have begun to use mobile networks for communication. Mobile networks can be used for drone tracking, remote piloting, over the air updates, and cloud computing. Modern networking standards have explicitly considered autonomous aircraft and therefore include optimizations. The 5G standard has mandated reduced user plane latency to 1ms while using ultra-reliable and low-latency communications. == Autonomy == Basic autonomy comes from proprioceptive sensors. Advanced autonomy calls for situational awareness, knowledge about the environment surrounding the aircraft from exteroceptive sensors: sensor fusion integrates information from multiple sensors. Civil aviation regulators and standards bodies have published high-level roadmaps and discussion papers focused on assurance, safety and governance of AI-enabled systems in aviation, particularly as autonomy increases in operations and decision support. === Basic principles === One way to achieve autonomous control employs multiple control-loop layers, as in hierarchical control systems. As of 2016 the low-layer loops (i.e. for flight control) tick as fast as 32,000 times per second, while higher-level loops may cycle once per second. The principle is to decompose the aircraft's behavior into manageable "chunks", or states, with known transitions. Hierarchical control system types range from simple scripts to finite state machines, behavior trees and hierarchical task planners. The most common control mechanism used in these layers is the PID controller which can be used to achieve hover for a quadcopter by using data from the IMU to calculate precise inputs for the electronic speed controllers and motors. Examples of mid-layer algorithms: Path planning: determining an optimal path for vehicle to follow while meeting mission objectives and constraints, such as obstacles or fuel requirements Trajectory generation (motion planning): determining control maneuvers to take in order to follow a given path or to go from one location to another Trajectory regulation: constraining a vehicle within some tolerance to a trajectory Evolved UAV hierarchical task planners use methods like state tree searches or genetic algorithms. === Autonomy features === UAV manufacturers often build in specific autonomous operations, such as: Self-level: attitude stabilization on the pitch and roll axes. Altitude hold: The aircraft maint
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Aidan Gomez

Aidan Gomez is a British-Canadian computer scientist working in the field of artificial intelligence, with a focus on natural language processing. He is the co-founder and CEO of the technology company Cohere. == Early life and education == Gomez grew up in Brighton, Ontario. He graduated from the University of Toronto with a bachelor's degree in computer science and mathematics. He was pursuing a PhD in computer science from the University of Oxford. He paused his studies to launch Cohere. He was granted the PhD in 2024. == Career == In 2017, as a 20 year-old intern at Google Brain, Gomez was one of eight authors of the research paper "Attention Is All You Need", which is credited with changing the AI industry and helping lead to the creation of ChatGPT. The paper proposed a novel deep learning architecture called the transformer, that enables machine learning models to analyze large amounts of data for patterns, and then use those patterns to make predictions while leveraging GPU parallelization. It has been commonly adopted for training large language models and in the development of generative AI. In the same year, Gomez founded FOR.ai, a program to help researchers learn machine learning techniques in a collaborative format. An outgrowth of this project was Cohere For AI (now Cohere Labs), which released Aya, an open-source multilingual LLM. As a PhD student, Gomez worked as a machine learning researcher at Google Brain. At that time, he co-authored the paper "One Model to Learn Them All" about multi-task learning by a single neural network. In 2019, Gomez left Google Brain to launch Cohere, an enterprise-focused company that helps businesses implement AI into chatbots, search engines, and other products. As of Sept 2025, Cohere has raised about US$1.6 billion at valuation north of $7 billion, as Gomez leads the company as its CEO. Gomez was named to the 2023 Time 100/AI list of the most influential people in the field of artificial intelligence. He and his fellow Cohere founders Ivan Zhang and Nick Frosst were named number 1 on 2023 Maclean's AI Trailblazers Power List. In April 2025, Gomez was elected to the board of Rivian. == Views on AI == Gomez has stated that warnings regarding the existential risk from artificial intelligence are overblown, and that real risks involve the automated spread of misinformation on social media. He said that the United States would win the AI arms race over China.
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HTK (software)

HTK (Hidden Markov Model Toolkit) is a proprietary software toolkit for handling HMMs. It is mainly intended for speech recognition, but has been used in many other pattern recognition applications that employ HMMs, including speech synthesis, character recognition and DNA sequencing. Originally developed at the Machine Intelligence Laboratory (formerly known as the Speech Vision and Robotics Group) of the Cambridge University Engineering Department (CUED), HTK is now being widely used among researchers who are working on HMMs.
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SHRDLU

SHRDLU is an early natural-language understanding computer program that was developed by Terry Winograd at MIT in 1968–1970. In the program, the user carries on a conversation with the computer, moving objects, naming collections and querying the state of a simplified "blocks world", essentially a virtual box filled with different blocks. SHRDLU was written in the Micro Planner and Lisp programming language on the DEC PDP-6 computer and a DEC graphics terminal. Later additions were made at the computer graphics labs at the University of Utah, adding a full 3D rendering of SHRDLU's "world". The name SHRDLU was derived from ETAOIN SHRDLU, the arrangement of the letter keys on a Linotype machine, arranged in descending order of usage frequency in English. == Functionality == SHRDLU is primarily a language parser that allows user interaction using English terms. The user instructs SHRDLU to move various objects around in the "blocks world" containing various basic objects such as blocks, cones and balls. SHRDLU combined four simple ideas to make the simulation of "understanding" more convincing. One was that SHRDLU's world is so simple that the entire set of objects and locations could be described by including as few as 50 words: nouns like "block" and "cone", verbs like "place on" and "move to", and adjectives like "big" and "blue". The possible combinations of these basic language building blocks are quite simple. SHRDLU also includes a basic memory to supply context. One could ask SHRDLU to "put the green cone on the red block" and then "take the cone off"; "the cone" would be taken to mean the green cone one had just talked about. SHRDLU can search back further through the interactions to find the proper context in most cases when additional adjectives were supplied. One could also ask questions about the history; for instance, one could ask "did you pick up anything before the cone?" A side effect of this memory, and the original rules SHRDLU was supplied with, is that the program can answer questions about what was possible in the world and what was not. For instance, SHRDLU can deduce that blocks could be stacked by looking for examples, but also realize that triangles could not be stacked, after having tried it. The "world" contains basic physics to make blocks fall over, independent of the language parser. Finally, SHRDLU can also remember names given to objects, or arrangements of them. For instance one could say "a steeple is a small triangle on top of a tall rectangle"; SHRDLU can then answer questions about steeples in the blocks world, and build new ones. This is an example of a SHRDLU session: Person: Pick up a big red block. Computer: OK. Person: Grasp the pyramid. Computer: I DON'T UNDERSTAND WHICH PYRAMID YOU MEAN. Person (changing their mind): Find a block which is taller than the one you are holding and put it into the box. Computer: BY "IT", I ASSUME YOU MEAN THE BLOCK WHICH IS TALLER THAN THE ONE I AM HOLDING. Computer: OK. Person: What does the box contain? Computer: THE BLUE PYRAMID AND THE BLUE BLOCK. Person: What is the pyramid supported by? Computer: THE BOX. Person: How many blocks are not in the box? Computer: FOUR OF THEM. Person: Is at least one of them narrower than the one which i told you to pick up? Computer: YES, THE RED CUBE. Person: Is it supported? Computer: YES, BY THE TABLE. Person: Can the table pick up blocks? Computer: NO. Person: Can a pyramid be supported by a block? Computer: YES. Person: Can a pyramid support a pyramid? Computer: I DON'T KNOW. Person: Stack up two pyramids. Computer: I CAN'T. Person: Will you please stack up both of the red blocks and either a green cube or a pyramid? Computer: OK. Person: Which cube is sitting on the table? Computer: THE LARGE GREEN ONE WHICH SUPPORTS THE RED PYRAMID. Person: Is there a large block behind a pyramid? Computer: YES, THREE OF THEM: A LARGE RED ONE, A LARGE GREEN CUBE, AND THE BLUE ONE. Person: Put a small one onto the green cube which supports a pyramid. Computer: OK. Person: Put the littlest pyramid on top of it. Computer: OK. Person: Does the shortest thing the tallest pyramid's support supports support anything green? Computer: YES, THE GREEN PYRAMID. Person: What color is it? Computer: BY "IT", I ASSUME YOU MEAN THE SHORTEST THING THE TALLEST PYRAMID'S SUPPORT SUPPORTS. Computer: RED Person: How many things are on top of green cubes? Computer: I'M NOT SURE WHAT YOU MEAN BY "ON TOP OF" IN THE PHRASE "ON TOP OF GREEN CUBES" . DO YOU MEAN: 1 - DIRECTLY ON THE SURFACE 2 - ANWHERE ON TOP OF ? Person: 2 Computer: THREE OF THEM. Person: Had you touched any pyramid before you put the green one on the little cube? Computer: YES, THE GREEN ONE. Person: When did you pick it up? Computer: WHILE I WAS STACKING UP THE RED CUBE, A LARGE RED BLOCK AND A LARGE GREEN CUBE. Person: Why? Computer: TO GET RID OF IT. Person: Why did you do that? Computer: TO CLEAN OFF THE RED CUBE. Person: Why did you clear off that cube? Computer: TO PUT IT ON A LARGE GREEN CUBE. Person: Why did you do that? Computer: TO STACK UP THE RED CUBE , A LARGE RED BLOCK AND A LARGE GREEN CUBE. Person: Why did you do that? Computer: BECAUSE YOU ASKED ME TO. Person: How did you do it? Computer: BY PUTTING A LARGE RED BLOCK ON THE TABLE ; THEN LETTING GO OF IT ; THEN PUTTING A LARGE GREEN CUBE ON IT ; THEN LETTING GO OF THAT CUBE ; THEN PUTTING THE RED CUBE ON THAT CUBE; THEN LETTING GO OF THAT CUBE. Person: How many objects did you touch while you were doing it? Computer: FOUR OF THEM. Person: What did the red cube support before you started to clean it off? Computer: THE GREEN PYRAMID. Person: There were five blocks to the left of the box then. Computer: NO, ONLY FOUR OF THEM: THE RED CUBE, TWO LARGE GREEN CUBES AND A LARGE RED BLOCK. Person: Put the blue pyramid on the block in the box. Computer: OK. Person: Is there anything which is bigger than every pyramid but is not as wide as the thing that supports it? Computer: YES, THE BLUE BLOCK. Person: Does a steeple Computer (interrupting): SORRY, I DON'T KNOW THE WORD "STEEPLE". Person: A "steeple" is a stack which contains two green cubes and a pyramid. Computer: I UNDERSTAND. Person: Are there any steeples now? Computer: NO. Person: Build one. Computer: OK. Person: Call the biggest block "superblock". Computer: OK. Person: Have you picked superblock up since we began? Computer: YES. Person: Why did you drop it? Computer: BY "IT", I ASSUME YOU MEAN THE SUPERBLOCK. I CAN'T EXPLAIN A NON-EXISTENT EVENT. Person: Is there anything to the right of the red pyramid? Computer: YES, FOUR THINGS: THE BOX, THE RED CUBE, THE BLUE PYRAMID AND THE BLOCK NAMED SUPERBLOCK Person: Thank you. Computer: YOU'RE WELCOME! == Consequences == SHRDLU was considered a tremendously successful demonstration of artificial intelligence (AI). This led other AI researchers to excessive optimism which was soon lost when later systems attempted to deal with situations with a more realistic level of ambiguity and complexity. Subsequent efforts of the SHRDLU type, such as Cyc, have tended to focus on providing the program with considerably more information from which it can draw conclusions. In a 1991 interview, Winograd said about SHRDLU: [...] the famous dialogue with SHRDLU where you could pick up a block, and so on, I very carefully worked through, line by line. If you sat down in front of it, and asked it a question that wasn't in the dialogue, there was some probability it would answer it. I mean, if it was reasonably close to one of the questions that was there in form and in content, it would probably get it. But there was no attempt to get it to the point where you could actually hand it to somebody and they could use it to move blocks around. And there was no pressure for that whatsoever. Pressure was for something you could demo. Take a recent example, Negroponte's Media Lab, where instead of "perish or publish" it's "demo or die." I think that's a problem. I think AI suffered from that a lot, because it led to "Potemkin villages", things which - for the things they actually did in the demo looked good, but when you looked behind that there wasn't enough structure to make it really work more generally. Though not intentionally developed as such, SHRDLU is considered the first known formal example of interactive fiction, as the user interacts with simple commands to move objects around a virtual environment, though lacking the distinct story-telling normally present in the interactive fiction genre. The 1976-1977 game Colossal Cave Adventure is broadly considered to be the first true work of interactive fiction.
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Cost-sensitive machine learning

Cost-sensitive machine learning is an approach within machine learning that considers varying costs associated with different types of errors. This method diverges from traditional approaches by introducing a cost matrix, explicitly specifying the penalties or benefits for each type of prediction error. The inherent difficulty which cost-sensitive machine learning tackles is that minimizing different kinds of classification errors is a multi-objective optimization problem. == Overview == Cost-sensitive machine learning optimizes models based on the specific consequences of misclassifications, making it a valuable tool in various applications. It is especially useful in problems with a high imbalance in class distribution and a high imbalance in associated costs Cost-sensitive machine learning introduces a scalar cost function in order to find one (of multiple) Pareto optimal points in this multi-objective optimization problem (similar to the Weighted sum model) == Cost Matrix == The cost matrix is a crucial element within cost-sensitive modeling, explicitly defining the costs or benefits associated with different prediction errors in classification tasks. Represented as a table, the matrix aligns true and predicted classes, assigning a cost value to each combination. For instance, in binary classification, it may distinguish costs for false positives and false negatives. The utility of the cost matrix lies in its application to calculate the expected cost or loss. The formula, expressed as a double summation, utilizes joint probabilities: Expected Loss = ∑ i ∑ j P ( Actual i , Predicted j ) ⋅ Cost Actual i , Predicted j {\displaystyle {\text{Expected Loss}}=\sum _{i}\sum _{j}P({\text{Actual}}_{i},{\text{Predicted}}_{j})\cdot {\text{Cost}}_{{\text{Actual}}_{i},{\text{Predicted}}_{j}}} Here, P ( Actual i , Predicted j ) {\displaystyle P({\text{Actual}}_{i},{\text{Predicted}}_{j})} denotes the joint probability of actual class i {\displaystyle i} and predicted class j {\displaystyle j} , providing a nuanced measure that considers both the probabilities and associated costs. This approach allows practitioners to fine-tune models based on the specific consequences of misclassifications, adapting to scenarios where the impact of prediction errors varies across classes. == Applications == === Fraud Detection === In the realm of data science, particularly in finance, cost-sensitive machine learning is applied to fraud detection. By assigning different costs to false positives and false negatives, models can be fine-tuned to minimize the overall financial impact of misclassifications. === Medical Diagnostics === In healthcare, cost-sensitive machine learning plays a role in medical diagnostics. The approach allows for customization of models based on the potential harm associated with misdiagnoses, ensuring a more patient-centric application of machine learning algorithms. == Challenges == A typical challenge in cost-sensitive machine learning is the reliable determination of the cost matrix which may evolve over time. == Literature == Cost-Sensitive Machine Learning. USA, CRC Press, 2011. ISBN 9781439839287 Abhishek, K., Abdelaziz, D. M. (2023). Machine Learning for Imbalanced Data: Tackle Imbalanced Datasets Using Machine Learning and Deep Learning Techniques. (n.p.): Packt Publishing. ISBN 9781801070881
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Rnn (software)

rnn is an open-source machine learning framework that implements recurrent neural network architectures, such as LSTM and GRU, natively in the R programming language, that has been downloaded over 100,000 times (from the RStudio servers alone). The rnn package is distributed through the Comprehensive R Archive Network under the open-source GPL v3 license. == Workflow == The below example from the rnn documentation show how to train a recurrent neural network to solve the problem of bit-by-bit binary addition. == sigmoid == The sigmoid functions and derivatives used in the package were originally included in the package, from version 0.8.0 onwards, these were released in a separate R package sigmoid, with the intention to enable more general use. The sigmoid package is a dependency of the rnn package and therefore automatically installed with it. == Reception == With the release of version 0.3.0 in April 2016 the use in production and research environments became more widespread. The package was reviewed several months later on the R blog The Beginner Programmer as "R provides a simple and very user friendly package named rnn for working with recurrent neural networks.", which further increased usage. The book Neural Networks in R by Balaji Venkateswaran and Giuseppe Ciaburro uses rnn to demonstrate recurrent neural networks to R users. It is also used in the r-exercises.com course "Neural network exercises". The RStudio CRAN mirror download logs show that the package is downloaded on average about 2,000 per month from those servers , with a total of over 100,000 downloads since the first release, according to RDocumentation.org, this puts the package in the 15th percentile of most popular R packages .
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IEEE Transactions on Pattern Analysis and Machine Intelligence

IEEE Transactions on Pattern Analysis and Machine Intelligence (sometimes abbreviated as IEEE PAMI or simply PAMI) is a monthly peer-reviewed scientific journal published by the IEEE Computer Society. == Background == The journal covers research in computer vision and image understanding, pattern analysis and recognition, machine intelligence, machine learning, search techniques, document and handwriting analysis, medical image analysis, video and image sequence analysis, content-based retrieval of image and video, and face and gesture recognition. The editor-in-chief is Kyoung Mu Lee (Seoul National University). According to the Journal Citation Reports, the journal has a 2023 impact factor of 20.8.
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Computational creativity

Computational creativity (also known as artificial creativity, mechanical creativity, creative computing or creative computation) is a multidisciplinary endeavour that is located at the intersection of the fields of artificial intelligence, cognitive psychology, philosophy, and the arts (e.g., computational art as part of computational culture). Is the application of computer systems to emulate human-like creative processes, facilitating the generation of artistic and design outputs that mimic innovation and originality. The goal of computational creativity is to model, simulate or replicate creativity using a computer, to achieve one of several ends: To construct a program or computer capable of human-level creativity. To better understand human creativity and to formulate an algorithmic perspective on creative behavior in humans. To design programs that can enhance human creativity without necessarily being creative themselves. The field of computational creativity concerns itself with theoretical and practical issues in the study of creativity. Theoretical work on the nature and proper definition of creativity is performed in parallel with practical work on the implementation of systems that exhibit creativity, with one strand of work informing the other. The applied form of computational creativity is known as media synthesis. == Theoretical issues == Theoretical approaches concern the essence of creativity. Especially, under what circumstances it is possible to call the model a "creative" if eminent creativity is about rule-breaking or the disavowal of convention. This is a variant of Ada Lovelace's objection to machine intelligence, as recapitulated by modern theorists such as Teresa Amabile. If a machine can do only what it was programmed to do, how can its behavior ever be called creative? Indeed, not all computer theorists would agree with the premise that computers can only do what they are programmed to do—a key point in favor of computational creativity. == Defining creativity in computational terms == Because no single perspective or definition seems to offer a complete picture of creativity, the AI researchers Newell, Shaw and Simon developed the combination of novelty and usefulness into the cornerstone of a multi-pronged view of creativity, one that uses the following four criteria to categorize a given answer or solution as creative: The answer is novel and useful (either for the individual or for society) The answer demands that we reject ideas we had previously accepted The answer results from intense motivation and persistence The answer comes from clarifying a problem that was originally vague Margaret Boden focused on the first two of these criteria, arguing instead that creativity (at least when asking whether computers could be creative) should be defined as "the ability to come up with ideas or artifacts that are new, surprising, and valuable". Mihaly Csikszentmihalyi argued that creativity had to be considered instead in a social context, and his DIFI (Domain-Individual-Field Interaction) framework has since strongly influenced the field. In DIFI, an individual produces works whose novelty and value are assessed by the field—other people in society—providing feedback and ultimately adding the work, now deemed creative, to the domain of societal works from which an individual might be later influenced. Whereas the above reflects a top-down approach to computational creativity, an alternative thread has developed among bottom-up computational psychologists involved in artificial neural network research. During the late 1980s and early 1990s, for example, such generative neural systems were driven by genetic algorithms. Experiments involving recurrent nets were successful in hybridizing simple musical melodies and predicting listener expectations. == Historical evolution of computational creativity == The use computational processes to generate creative artifacts has been present from early times in history. During the late 1800's, methods for composing music combinatorily were explored, involving prominent figures like Mozart, Bach, Haydn, and Kiernberger. This approach extended to analytical endeavors as early as 1934, where simple mechanical models were built to explore mathematical problem solving. Professional interest in the creative aspect of computation also was commonly addressed in early discussions of artificial intelligence. The 1956 Dartmouth Conference, listed creativity, invention, and discovery as key goals for artificial intelligence. As the development of computers allowed systems of greater complexity, the 1970's and 1980's saw invention of early systems that modelled creativity using symbolic or rule-based approaches. The field of creative storytelling investigated several such models. Meehan's TALE-SPIN (1977) generated narratives through simulation of character goals and decision trees. Dehn's AUTHOR (1981) approached generation by simulating an author's process for crafting a story. Beyond narrative generation, computational creativity expanded into artistic and scientific domains. Artistic image generation was one of the disciplines that saw early potential in generated artifacts through computational creativity. One of the most prominent examples was Harold Cohen's AARON, which produced art through composition and adaptation of figures based on a large set of symbolic rules and heuristics for visual composition. Some systems also tackled creativity in scientific endeavors. BACON was said to rediscover natural laws like Boyle's Law and Kepler's law through hypothesis testing in constrained spaces. By the 1990's the modeling techniques became more adaptive, attempting to implement cognitive creative rules for generation. Turner's MINSTREL (1993) introduced TRAMs (Transform Recall Adapt Methods) to simulate creative re-use of prior material for generative storytelling. Meanwhile, Pérez y Pérez's MEXICA (1999) modeled the creative writing process using cycles of engagement and reflection. As systems increasingly incorporated models of internal evaluation, another approach that emerged was that of combining symbolic generation with domain-specific evaluation metrics, modeling generative and selective steps to creativity In the field of generational humor, the JAPE system (1994) generated pun-based riddles using Prolog and WordNet, applying symbolic pattern-matching rules and a large lexical database (WordNet) to compose riddles involving wordplay. WordNet is a system developed by George Miller and his team at Princeton, its platform and inspired word-mapping structures have been used as the backbone of several syntactic and semantic AI programs. A notable system for music generation was David Cope's EMI (Experiments in Musical Intelligence) or Emmy, which was trained in the styles of artists like Bach, Beethoven, or Chopin and generated novel pieces in their style through pattern abstraction and recomposition. In the 2000s and beyond, machine learning began influencing creative system design. Researchers such as Mihalcea and Strapparava trained classifiers to distinguish humorous from non-humorous text, using stylistic and semantic features. Meanwhile custom computational approaches led to chess systems like Deep Blue generating quasi-creative gameplay strategies through search algorithms and parallel processing constrained by specific rules and patterns for evaluation. The institutional development of computational creativity grew along its technical advances. Dedicated workshops such as the IJWCC emerged in the 1990s, growing out of interdisciplinary conferences focused on AI and creativity. By the early 2000s, the field coalesced around annual conferences like the International Conference on Computational Creativity (ICCC). Recently, with the advent of Deep Learning, Transformers, and further refinement in Machine Learning structures, computational creativity's implementation space has new tools for development. == Machine learning for computational creativity == While traditional computational approaches to creativity rely on the explicit formulation of prescriptions by developers and a certain degree of randomness in computer programs, machine learning methods allow computer programs to learn on heuristics from input data enabling creative capacities within the computer programs. Especially, deep artificial neural networks allow to learn patterns from input data that allow for the non-linear generation of creative artefacts. Before 1989, artificial neural networks have been used to model certain aspects of creativity. Peter Todd (1989) first trained a neural network to reproduce musical melodies from a training set of musical pieces. Then he used a change algorithm to modify the network's input parameters. The network was able to randomly generate new music in a highly uncontrolled manner. In 1992, Todd extended this work, using the so-called distal teacher approach that had been d
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Transderivational search

Transderivational search (often abbreviated to TDS) is a psychological and cybernetics term, meaning when a search is being conducted for a fuzzy match across a broad field. In computing the equivalent function can be performed using content-addressable memory. Unlike usual searches, which look for literal (i.e. exact, logical, or regular expression) matches, a transderivational search is a search for a possible meaning or possible match as part of communication, and without which an incoming communication cannot be made any sense of whatsoever. It is thus an integral part of processing language, and of attaching meaning to communication. In NLP (Neuro-linguistic programming), a transderivational search (Bandler and Grinder, 1976) is essentially the process of searching back through one's stored memories and mental representations to find the personal reference experiences from which a current understanding or mental map has been derived. By the end of 1976, Grinder and Bandler had combined Satir’s and Perls’ language patterns and Erickson’s hypnotic language and use of metaphor with anchoring to create new processes that they called collapsing anchors, trans-derivational search, changing personal history, and reframing. A psychological example of TDS is in Ericksonian hypnotherapy, where vague suggestions are used that the patient must process intensely in order to find their own meanings, thus ensuring that the practitioner does not intrude his own beliefs into the subject's inner world. == TDS in human communication and processing == Because TDS is a compelling, automatic and unconscious state of internal focus and processing (i.e. a type of everyday trance state), and often a state of internal lack of certainty, or openness to finding an answer (since something is being checked out at that moment), it can be utilized or interrupted, in order to create, or deepen, trance. TDS is a fundamental part of human language and cognitive processing. Arguably, every word or utterance a person hears, for example, and everything they see or feel and take note of, results in a very brief trance while TDS is carried out to establish a contextual meaning for it. === Examples === Leading statements: "And those thoughts you had yesterday..." the human mind cannot process hearing this phrase, without at some level searching internally for some thoughts or other that it had yesterday, to make the subject of the sentence. "The many colors that fruit can be" likewise starts the human mind considering even if briefly, different fruit sorted by color. "You did it again, didn't you!" This everyday manipulative use of TDS usually sends the recipient looking internally for some "it" they may have done for which blame is being fairly given. Regardless of whether such a matter can be identified, guilt or anger may result. "There has been pain, hasn't there" the mind of a patient suffering an illness will find it very hard or impossible to hear or answer this sentence without conducting internal searches to verify whether this is true or not, or to find an example if so. "You'd forgotten something [or: some part of your body], hadn't you?" the mind usually checks through the various things, or parts of the body, on hearing this, seeing if each in turn has been forgotten. Textual ambiguity: "Do you remember line dancing on the steps?" Without sufficient context, some statements may trigger TDS in order to resolve inherent ambiguity in the interpretation of a posed question. Do I remember a bygone fad called "line dancing on the steps"? Do I remember personally engaging in dancing in the past? Do I remember my routine practice dancing by focusing on the steps of the dance? Do I tend to forget about dancing when I am standing on steps? "Penny-wise and pound the table dance to the beat of a different drummer". The mixing of cliché and stock phrases may trigger TDS in order to reconcile the discrepancies between expected and actual utterances in sequence. Although TDS is often associated with spoken language, it can be induced in any perceptual system. Thus Milton Erickson's "hypnotic handshake" is a technique that leaves the other person performing TDS in search of meaning to a deliberately ambiguous use of touch.
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Yann LeCun

Yann André Le Cun ( lə-KUN; French: [ləkœ̃]; usually spelled LeCun; born 8 July 1960) is a French-American computer scientist working in the fields of artificial intelligence, machine learning, computer vision, robotics and image compression. He is the Jacob T. Schwartz Professor of Computer Science at the Courant Institute of Mathematical Sciences at New York University. He served as Chief AI Scientist at Meta Platforms before co-founding Advanced Machine Intelligence Labs in December 2025. He is well known for his work on optical character recognition and computer vision using convolutional neural networks (CNNs). He is also one of the main creators of the DjVu image compression technology, alongside Léon Bottou and Patrick Haffner. He co-developed the Lush programming language with Léon Bottou. In 2018, LeCun, Yoshua Bengio, and Geoffrey Hinton received the Turing Award from the Association for Computing Machinery (ACM) for their work on deep learning. LeCun, Bengio, and Hinton, and occasionally Jürgen Schmidhuber, are sometimes referred to as the "Godfathers of AI" and "Godfathers of Deep Learning". == Early life and education == Yann André Le Cun was born on 8 July 1960 at Soisy-sous-Montmorency, in the suburbs of Paris. His surname, Le Cun, derives from the old Breton form Le Cunff and originates from the region of Guingamp in northern Brittany. Yann is the Breton form of Jean, the French form of John. He received a Diplôme d'Ingénieur from the ESIEE Paris in 1983 and a PhD in computer science from Université Pierre et Marie Curie (now Sorbonne University) in 1987, during which he proposed an early form of backpropagation, an algorithm crucial for enabling neural networks to learn. Before joining AT&T, LeCun was a postdoctoral researcher for a year, starting in 1987, supervised by Geoffrey Hinton at the University of Toronto. LeCun has three sons, and his brother is employed by Google. He has American citizenship. == Career and research == LeCun's career has been spent primarily at Bell Labs, New York University and Meta Platforms, Inc. === Bell Labs === In 1988, LeCun joined the Adaptive Systems Research Department at AT&T Bell Laboratories in Holmdel, New Jersey, United States, headed by Lawrence D. Jackel, where he developed a number of new machine learning methods, such as a biologically inspired model of image recognition called convolutional neural networks (LeNet), the "Optimal Brain Damage" regularization methods, and the Graph Transformer Networks method (similar to conditional random field), which he applied to handwriting recognition and Optical character recognition (OCR). The bank check recognition system that he helped develop was widely deployed by NCR and other companies. In 1996, he joined AT&T Labs-Research as head of the Image Processing Research Department, which was part of Lawrence Rabiner's Speech and Image Processing Research Lab, and worked primarily on the DjVu image compression technology, a format designed for efficient distribution of scanned documents, and used by the Internet Archive to provide access to digitized texts. His collaborators at AT&T include Léon Bottou and Vladimir Vapnik. === New York University === After a brief tenure as a fellow of NEC Research Institute, LeCun joined New York University in 2003, where he is Jacob T. Schwartz Chaired Professor of Computer Science and Neural Science at the Courant Institute of Mathematical Sciences and the Center for Neural Science. At NYU, he has worked primarily on energy-based models for supervised and unsupervised learning, feature learning for object recognition in computer vision, and mobile robotics. In 2012, he became the founding director of the NYU Center for Data Science. On 9 December 2013, LeCun became the first director of Meta AI Research in New York City and in early 2014 stepped down from the NYU–CDS directorship. In 2013, he and Yoshua Bengio co-founded the International Conference on Learning Representations, which adopted a post-publication open review process he previously advocated on his website. He was the chair and organiser of the "Learning Workshop" held every year between 1986 and 2012 in Snowbird, Utah. He is a member of the Science Advisory Board of the Institute for Pure and Applied Mathematics at UCLA. He is the co-director of the Learning in Machines and Brain research program (formerly Neural Computation & Adaptive Perception) of CIFAR. In 2016, he was the visiting professor of computer science on the Chaire Annuelle Informatique et Sciences Numériques at Collège de France in Paris, where he presented the leçon inaugurale (inaugural lecture). In 2023, he was named as the inaugural Jacob T. Schwartz Chaired Professor in Computer Science at NYU's Courant Institute. LeCun is also a scientific advisor to French research group Kyutai which is being funded by Xavier Niel, Rodolphe Saadé, Eric Schmidt, and others. === Meta Platforms === LeCun joined Facebook (now Meta Platforms) in 2013 as chief AI scientist and led the company's AI research laboratory, FAIR. === AMI Labs === On 19 November 2025, LeCun confirmed that he would be leaving Meta after ten years to found his own company focused on world-model architectures and human-like artificial intelligence he calls superintelligence. The company he founded, Advanced Machine Intelligence Labs (or AMI Labs), is run by CEO Alex LeBrun, with LeCun serving as Executive Chair. This venture is focused on building AI "world models": systems that learn to understand the physical world's structure and dynamics rather than just predict text like large language models. In March 2026, AMI announced it had raised $1.03 billion in funding at a $3.5 billion pre-money valuation. The funding round was co-led by investors including Cathay Innovation, Greycroft, Hiro Capital, HV Capital and Bezos Expeditions. In January 2026, LeCun became founding chair of the Technical Research Board of Logical Intelligence, an AI company developing energy-based (EBM) reasoning systems. == Honours and awards == LeCun is a member of the US National Academy of Sciences, National Academy of Engineering and the French Académie des Sciences. He has received honorary doctorates from Instituto Politécnico Nacional (IPN) in Mexico City in 2016, from EPFL in 2018, from Université Côte d'Azur in 2021, from Università di Siena in 2023, and from Hong Kong University of Science and Technology in 2023. In 2014, he received the IEEE Neural Network Pioneer Award and in 2015, the PAMI Distinguished Researcher Award. In 2018, LeCun was awarded the IRI Medal, established by the Industrial Research Institute (IRI), and the Harold Pender Award, given by the University of Pennsylvania. In 2019, he received the Golden Plate Award of the American Academy of Achievement. In March 2019, LeCun won the 2018 Turing Award, sharing it with Yoshua Bengio and Geoffrey Hinton. In 2022, he received the Princess of Asturias Award in the category "Scientific Research", along with Yoshua Bengio, Geoffrey Hinton and Demis Hassabis. In 2023, the President of France made him a Chevalier (Knight) of the French Legion of Honour. During the World Economic Forum (WEF) 2024 in Davos, he received the Global Swiss AI Award 2023. The same year, he received the grand prize of the VinFuture Prize alongside Yoshua Bengio, Jensen Huang, Geoffrey Hinton, and Fei-Fei Li for their groundbreaking contributions to neural networks and deep learning algorithms. In 2025 he was awarded the Queen Elizabeth Prize for Engineering jointly with Yoshua Bengio, Bill Dally, Geoffrey E. Hinton, John Hopfield, Jensen Huang and Fei-Fei Li.
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OpenNN

OpenNN (Open Neural Networks Library) is a software library written in the C++ programming language which implements neural networks, a main area of deep learning research. The library is open-source, licensed under the GNU Lesser General Public License. == Characteristics == The software implements any number of layers of non-linear processing units for supervised learning. This deep architecture allows the design of neural networks with universal approximation properties. Additionally, it allows multiprocessing programming by means of OpenMP, in order to increase computer performance. OpenNN contains machine learning algorithms as a bundle of functions. These can be embedded in other software tools, using an application programming interface, for the integration of the predictive analytics tasks. In this regard, a graphical user interface is missing but some functions can be supported by specific visualization tools. == History == The development started in 2003 at the International Center for Numerical Methods in Engineering, within the research project funded by the European Union called RAMFLOOD (Risk Assessment and Management of FLOODs). Then it continued as part of similar projects. OpenNN is being developed by the startup company Artelnics. == Applications == OpenNN is a general purpose artificial intelligence software package. It uses machine learning techniques for solving predictive analytics tasks in different fields. For instance, the library has been applied in the engineering, energy, or chemistry sectors.
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Copyright and artificial intelligence in the United Kingdom

The interaction of artificial intelligence and copyright law has become one of the most contentious tech policy debates in the United Kingdom, centering on whether AI developers should be permitted to train their models on copyrighted material without explicit consent or remuneration. This debate has exposed a deep fracture between the creative industries, which seek to protect their intellectual property from unauthorised commercial exploitation, and tech companies. The academic and library sectors are also impacted, and argue that overly restrictive copyright laws hinder scientific research and the UK's sovereign AI capabilities. In 2024, the UK government proposed a broad text and data mining (TDM) exception to copyright that would have allowed AI companies to use publicly available copyrighted material for training, offering creators only an "opt-out" mechanism, similar to the exception introduced in Europe. This proposal faced intense opposition from across the creative sector. Trade unions representing writers, musicians, performers, and journalists argued that such an exception would effectively expropriate their members' work for the commercial benefit of tech giants. A report from the House of Lords Communications and Digital Committee, warned that generative AI posed a "clear and present danger" to the £124 billion creative economy. The government abandoned the opt-out model in March 2026, opting instead to build a stronger evidence base before pursuing any copyright reform. Conversely, the academic and library sectors have raised significant concerns that the UK's current TDM exception, which is strictly limited to non-commercial research, is too narrow. Universities and research libraries occupy a dual role as both creators of vast datasets and beneficiaries of TDM exceptions. They argue that the current legal framework restricts their ability to computationally analyse the very research they produce, thereby hobbling the UK's "AI for Science" strategy. Advocacy groups have highlighted a "triple payment" problem, wherein publicly funded research is handed over to publishers, who then charge universities substantial subscription fees and demand additional payments for specific TDM licences. This tension is further complicated by the commercial practices of major academic publishers. While publishers often restrict universities from using subscribed databases for AI training, they have simultaneously entered into lucrative, multi-million-dollar licensing agreements to sell access to this academic content to commercial AI developers. Furthermore, academics have accused publishers of actively steering authors away from permissive open-access licences towards more restrictive variants. By doing so, publishers retain the exclusive commercial rights necessary to strike these AI training deals, often without consulting the original authors or offering them any additional remuneration. This dynamic has not only reopened debates within the Open Access movement but has also created complex legal scenarios where publishers, rather than authors, control the terms of copyright litigation against major tech companies. == Training on copyrighted material == The question of whether AI developers should be permitted to train their models on copyrighted material without payment or consent has been one of the most contentious policy debates in the UK AI landscape. In 2024, the then-Conservative government proposed a broad text and data mining (TDM) exception that would have allowed AI companies to use any publicly available copyrighted material for training purposes, with creators able only to "opt out" of having their work used. This proposal provoked intense opposition from writers, musicians, visual artists, publishers, and broadcasters, who argued it would effectively expropriate their intellectual property for the commercial benefit of AI companies. The debate over text and data mining exceptions extends significantly beyond generative AI and the creative industries, implicating a wide range of scientific, industrial, and academic research applications. TDM is a foundational process for analysing large datasets to identify patterns, trends, and correlations, which is heavily utilised in fields such as medical research, climate modelling, and financial services. In the scientific and academic sectors, researchers rely on TDM to process vast amounts of published literature. For example, in biomedical research, TDM is used to accelerate drug discovery, identify new uses for existing medicines, and extract insights from clinical notes and genomic datasets. However, the application of traditional copyright frameworks to scientific literature has been criticised by academics. Researchers argue that scientific writing is intended to convey factual, verifiable information rather than creative originality, and that copyright restrictions on TDM hinder reproducibility, validation, and the advancement of science. The current UK copyright exception for TDM (Section 29A of the Copyright, Designs and Patents Act 1988) is limited strictly to non-commercial research, which creates barriers for public-private research partnerships and commercial scientific development. Beyond academia, non-generative AI and TDM are critical to various industrial and commercial operations. In the financial services sector, TDM is employed to monitor transactions, detect fraud, and analyse market feeds. Other non-generative applications include search engine indexing, plagiarism detection software, and media monitoring. A 2026 report by Public First estimated that 19% of UK businesses use specialised TDM tools, and that a restrictive copyright regime requiring licenses for all copyrighted content could cost the UK economy £220 billion in lost AI-driven GDP growth by 2035 compared to a broad commercial TDM exemption. Industry advocates argue that the lack of a commercial TDM exception in the UK creates legal uncertainty that stifles innovation across these broader, non-generative applications of data analysis. === Tech and AI industry positions === The technology and artificial intelligence industries lobbied for a broad text and data mining (TDM) exception to UK copyright law, arguing that such an exception is essential for the UK to remain globally competitive in AI development. Industry bodies such as techUK have argued that without a TDM exception, the UK risks becoming an "AI taker rather than an AI maker," as developers will relocate training operations to jurisdictions with more permissive copyright regimes, such as the United States, Japan, Singapore, and the European Union. During the UK government's 2024–2025 consultation on copyright and AI, major AI developers and trade associations strongly supported "Option 2" (a broad TDM exception) or "Option 3" (a TDM exception with an opt-out mechanism). OpenAI stated in its consultation response that a broad TDM exception is "necessary to drive AI innovation and investment in the UK," arguing that developers should be permitted to train models on lawfully accessed copies without further distribution. The Computer and Communications Industry Association (CCIA) similarly argued that restricting TDM to non-commercial development would undermine the government's ambitions for the UK tech sector and frustrate partnerships between commercial entities and research institutions. Tech industry advocates have also highlighted the economic implications of copyright policy. According to analysis by the think tank UK Day One, adopting an overly restrictive licensing-only approach could result in the UK economy losing up to £182 billion over 20 years, whereas a broad TDM exception could generate a positive impact of £131.61 billion over the same period. Following the government's March 2026 decision to drop plans for a TDM exception in favour of a market-led licensing approach, techUK's Deputy CEO Antony Walker criticised the move, stating that "copyright material cannot be used for AI development and training without permission" under the current framework, which he argued would push AI model training to the US. === Creative sector and political opposition to text and data mining === In March 2026, the House of Lords Communications and Digital Committee published a report, AI, Copyright and the Creative Industries, which concluded that the creative industries face "a clear and present danger from generative AI" and that it would be "a very poor bet" for the government to weaken copyright protections to attract AI investment. The Committee noted that the creative industries contributed £124 billion to the UK economy in 2023 and employed 2.4 million people, compared to the AI sector's £12 billion GVA and 86,000 employees in 2024. The Committee called on the government to develop a "licensing-first" regime underpinned by mandatory transparency requirements, and to rule out any new commercial TDM exception with an opt-out model. Tra
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Hard sigmoid

In artificial intelligence, especially computer vision and artificial neural networks, a hard sigmoid is non-smooth function used in place of a sigmoid function. These retain the basic shape of a sigmoid, rising from 0 to 1, but using simpler functions, especially piecewise linear functions or piecewise constant functions. These are preferred where speed of computation is more important than precision. == Examples == The most extreme examples are the sign function or Heaviside step function, which go from −1 to 1 or 0 to 1 (which to use depends on normalization) at 0. Other examples include the Theano library, which provides two approximations: ultra_fast_sigmoid, which is a multi-part piecewise approximation and hard_sigmoid, which is a 3-part piecewise linear approximation (output 0, line with slope 0.2, output 1).
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Planner (programming language)

Planner (often seen in publications as "PLANNER" although it is not an acronym) is a programming language designed by Carl Hewitt at MIT, and first published in 1969. First, subsets such as Micro-Planner and Pico-Planner were implemented, and then essentially the whole language was implemented as Popler by Julian Davies at the University of Edinburgh in the POP-2 programming language. Derivations such as QA4, Conniver, QLISP and Ether (see scientific community metaphor) were important tools in artificial intelligence research in the 1970s, which influenced commercial developments such as Knowledge Engineering Environment (KEE) and Automated Reasoning Tool (ART). == Procedural approach versus logical approach == The two major paradigms for constructing semantic software systems were procedural and logical. The procedural paradigm was epitomized by Lisp which featured recursive procedures that operated on list structures. The logical paradigm was epitomized by uniform proof procedure resolution-based derivation (proof) finders. According to the logical paradigm it was “cheating” to incorporate procedural knowledge. == Procedural embedding of knowledge == Planner was invented for the purposes of the procedural embedding of knowledge and was a rejection of the resolution uniform proof procedure paradigm, which Converted everything to clausal form. Converting all information to clausal form is problematic because it hides the underlying structure of the information. Then used resolution to attempt to obtain a proof by contradiction by adding the clausal form of the negation of the theorem to be proved. Using only resolution as the rule of inference is problematical because it hides the underlying structure of proofs. Also, using proof by contradiction is problematical because the axiomatizations of all practical domains of knowledge are inconsistent in practice. Planner was a kind of hybrid between the procedural and logical paradigms because it combined programmability with logical reasoning. Planner featured a procedural interpretation of logical sentences where an implication of the form (P implies Q) can be procedurally interpreted in the following ways using pattern-directed invocation: Forward chaining (antecedently): If assert P, assert Q If assert not Q, assert not P Backward chaining (consequently) If goal Q, goal P If goal not P, goal not Q In this respect, the development of Planner was influenced by natural deductive logical systems (especially the one by Frederic Fitch [1952]). == Micro-planner implementation == A subset called Micro-Planner was implemented by Gerry Sussman, Eugene Charniak and Terry Winograd and was used in Winograd's natural-language understanding program SHRDLU, Eugene Charniak's story understanding work, Thorne McCarty's work on legal reasoning, and some other projects. This generated a great deal of excitement in the field of AI. It also generated controversy because it proposed an alternative to the logic approach that had been one of the mainstay paradigms for AI. At SRI International, Jeff Rulifson, Jan Derksen, and Richard Waldinger developed QA4 which built on the constructs in Planner and introduced a context mechanism to provide modularity for expressions in the database. Earl Sacerdoti and Rene Reboh developed QLISP, an extension of QA4 embedded in INTERLISP, providing Planner-like reasoning embedded in a procedural language and developed in its rich programming environment. QLISP was used by Richard Waldinger and Karl Levitt for program verification, by Earl Sacerdoti for planning and execution monitoring, by Jean-Claude Latombe for computer-aided design, by Nachum Dershowitz for program synthesis, by Richard Fikes for deductive retrieval, and by Steven Coles for an early expert system that guided use of an econometric model. Computers were expensive. They had only a single slow processor and their memories were very small by comparison with today. So Planner adopted some efficiency expedients including the following: Backtracking was adopted to economize on the use of time and storage by working on and storing only one possibility at a time in exploring alternatives. A unique name assumption was adopted to save space and time by assuming that different names referred to different objects. For example, names like Peking (previous PRC capital name) and Beijing (current PRC capital transliteration) were assumed to refer to different objects. A closed-world assumption could be implemented by conditionally testing whether an attempt to prove a goal exhaustively failed. Later this capability was given the misleading name "negation as failure" because for a goal G it was possible to say: "if attempting to achieve G exhaustively fails then assert (Not G)." == The genesis of Prolog == Gerry Sussman, Eugene Charniak, Seymour Papert and Terry Winograd visited the University of Edinburgh in 1971, spreading the news about Micro-Planner and SHRDLU and casting doubt on the resolution uniform proof procedure approach that had been the mainstay of the Edinburgh Logicists. At the University of Edinburgh, Bruce Anderson implemented a subset of Micro-Planner called PICO-PLANNER, and Julian Davies (1973) implemented essentially all of Planner. According to Donald MacKenzie, Pat Hayes recalled the impact of a visit from Papert to Edinburgh, which had become the "heart of artificial intelligence's Logicland," according to Papert's MIT colleague, Carl Hewitt. Papert eloquently voiced his critique of the resolution approach dominant at Edinburgh "…and at least one person upped sticks and left because of Papert." The above developments generated tension among the Logicists at Edinburgh. These tensions were exacerbated when the UK Science Research Council commissioned Sir James Lighthill to write a report on the AI research situation in the UK. The resulting report [Lighthill 1973; McCarthy 1973] was highly critical although SHRDLU was favorably mentioned. Pat Hayes visited Stanford where he learned about Planner. When he returned to Edinburgh, he tried to influence his friend Bob Kowalski to take Planner into account in their joint work on automated theorem proving. "Resolution theorem-proving was demoted from a hot topic to a relic of the misguided past. Bob Kowalski doggedly stuck to his faith in the potential of resolution theorem proving. He carefully studied Planner.”. Kowalski [1988] states "I can recall trying to convince Hewitt that Planner was similar to SL-resolution." But Planner was invented for the purposes of the procedural embedding of knowledge and was a rejection of the resolution uniform proof procedure paradigm. Colmerauer and Roussel recalled their reaction to learning about Planner in the following way: "While attending an IJCAI convention in September ‘71 with Jean Trudel, we met Robert Kowalski again and heard a lecture by Terry Winograd on natural language processing. The fact that he did not use a unified formalism left us puzzled. It was at this time that we learned of the existence of Carl Hewitt’s programming language, Planner. The lack of formalization of this language, our ignorance of Lisp and, above all, the fact that we were absolutely devoted to logic meant that this work had little influence on our later research." In the fall of 1972, Philippe Roussel implemented a language called Prolog (an abbreviation for PROgrammation en LOGique – French for "programming in logic"). Prolog programs are generically of the following form (which is a special case of the backward-chaining in Planner): When goal Q, goal P1 and ... and goal Pn Prolog duplicated the following aspects of Micro-Planner: Pattern directed invocation of procedures from goals (i.e. backward chaining) An indexed data base of pattern-directed procedures and ground sentences. Giving up on the completeness paradigm that had characterized previous work on theorem proving and replacing it with the programming language procedural embedding of knowledge paradigm. Prolog also duplicated the following capabilities of Micro-Planner which were pragmatically useful for the computers of the era because they saved space and time: Backtracking control structure Unique Name Assumption by which different names are assumed to refer to distinct entities, e.g., Peking and Beijing are assumed to be different. Reification of Failure. The way that Planner established that something was provable was to successfully attempt it as a goal and the way that it establish that something was unprovable was to attempt it as a goal and explicitly fail. Of course the other possibility is that the attempt to prove the goal runs forever and never returns any value. Planner also had a (not expression) construct which succeeded if expression failed, which gave rise to the “Negation as Failure” terminology in Planner. Use of the Unique Name Assumption and Negation as Failure became more questionable when attention turned to Open Systems. The following capabiliti
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Learning vector quantization

In computer science, learning vector quantization (LVQ) is a prototype-based supervised classification algorithm. LVQ is the supervised counterpart of vector quantization systems. LVQ can be understood as a special case of an artificial neural network, more precisely, it applies a winner-take-all Hebbian learning-based approach. It is a precursor to self-organizing maps (SOM) and related to neural gas and the k-nearest neighbor algorithm (k-NN). LVQ was invented by Teuvo Kohonen. == Definition == An LVQ system is represented by prototypes W = ( w ( i ) , . . . , w ( n ) ) {\displaystyle W=(w(i),...,w(n))} which are defined in the feature space of observed data. In winner-take-all training algorithms one determines, for each data point, the prototype which is closest to the input according to a given distance measure. The position of this so-called winner prototype is then adapted, i.e. the winner is moved closer if it correctly classifies the data point or moved away if it classifies the data point incorrectly. An advantage of LVQ is that it creates prototypes that are easy to interpret for experts in the respective application domain. LVQ systems can be applied to multi-class classification problems in a natural way. A key issue in LVQ is the choice of an appropriate measure of distance or similarity for training and classification. Recently, techniques have been developed which adapt a parameterized distance measure in the course of training the system, see e.g. (Schneider, Biehl, and Hammer, 2009) and references therein. LVQ can be a valuable aid in classifying text documents. == Algorithm == The algorithms are presented as in. Set up: Let the data be denoted by x i ∈ R D {\displaystyle x_{i}\in \mathbb {R} ^{D}} , and their corresponding labels by y i ∈ { 1 , 2 , … , C } {\displaystyle y_{i}\in \{1,2,\dots ,C\}} . The complete dataset is { ( x i , y i ) } i = 1 N {\displaystyle \{(x_{i},y_{i})\}_{i=1}^{N}} . The set of code vectors is w j ∈ R D {\displaystyle w_{j}\in \mathbb {R} ^{D}} . The learning rate at iteration step t {\displaystyle t} is denoted by α t {\displaystyle \alpha _{t}} . The hyperparameters w {\displaystyle w} and ϵ {\displaystyle \epsilon } are used by LVQ2 and LVQ3. The original paper suggests ϵ ∈ [ 0.1 , 0.5 ] {\displaystyle \epsilon \in [0.1,0.5]} and w ∈ [ 0.2 , 0.3 ] {\displaystyle w\in [0.2,0.3]} . === LVQ1 === Initialize several code vectors per label. Iterate until convergence criteria is reached. Sample a datum x i {\displaystyle x_{i}} , and find out the code vector w j {\displaystyle w_{j}} , such that x i {\displaystyle x_{i}} falls within the Voronoi cell of w j {\displaystyle w_{j}} . If its label y i {\displaystyle y_{i}} is the same as that of w j {\displaystyle w_{j}} , then w j ← w j + α t ( x i − w j ) {\displaystyle w_{j}\leftarrow w_{j}+\alpha _{t}(x_{i}-w_{j})} , otherwise, w j ← w j − α t ( x i − w j ) {\displaystyle w_{j}\leftarrow w_{j}-\alpha _{t}(x_{i}-w_{j})} . === LVQ2 === LVQ2 is the same as LVQ3, but with this sentence removed: "If w j {\displaystyle w_{j}} and w k {\displaystyle w_{k}} and x i {\displaystyle x_{i}} have the same class, then w j ← w j − α t ( x i − w j ) {\displaystyle w_{j}\leftarrow w_{j}-\alpha _{t}(x_{i}-w_{j})} and w k ← w k + α t ( x i − w k ) {\displaystyle w_{k}\leftarrow w_{k}+\alpha _{t}(x_{i}-w_{k})} .". If w j {\displaystyle w_{j}} and w k {\displaystyle w_{k}} and x i {\displaystyle x_{i}} have the same class, then nothing happens. === LVQ3 === Initialize several code vectors per label. Iterate until convergence criteria is reached. Sample a datum x i {\displaystyle x_{i}} , and find out two code vectors w j , w k {\displaystyle w_{j},w_{k}} closest to it. Let d j := ‖ x i − w j ‖ , d k := ‖ x i − w k ‖ {\displaystyle d_{j}:=\|x_{i}-w_{j}\|,d_{k}:=\|x_{i}-w_{k}\|} . If min ( d j d k , d k d j ) > s {\displaystyle \min \left({\frac {d_{j}}{d_{k}}},{\frac {d_{k}}{d_{j}}}\right)>s} , where s = 1 − w 1 + w {\displaystyle s={\frac {1-w}{1+w}}} , then If w j {\displaystyle w_{j}} and x i {\displaystyle x_{i}} have the same class, and w k {\displaystyle w_{k}} and x i {\displaystyle x_{i}} have different classes, then w j ← w j + α t ( x i − w j ) {\displaystyle w_{j}\leftarrow w_{j}+\alpha _{t}(x_{i}-w_{j})} and w k ← w k − α t ( x i − w k ) {\displaystyle w_{k}\leftarrow w_{k}-\alpha _{t}(x_{i}-w_{k})} . If w k {\displaystyle w_{k}} and x i {\displaystyle x_{i}} have the same class, and w j {\displaystyle w_{j}} and x i {\displaystyle x_{i}} have different classes, then w j ← w j − α t ( x i − w j ) {\displaystyle w_{j}\leftarrow w_{j}-\alpha _{t}(x_{i}-w_{j})} and w k ← w k + α t ( x i − w k ) {\displaystyle w_{k}\leftarrow w_{k}+\alpha _{t}(x_{i}-w_{k})} . If w j {\displaystyle w_{j}} and w k {\displaystyle w_{k}} and x i {\displaystyle x_{i}} have the same class, then w j ← w j − ϵ α t ( x i − w j ) {\displaystyle w_{j}\leftarrow w_{j}-\epsilon \alpha _{t}(x_{i}-w_{j})} and w k ← w k + ϵ α t ( x i − w k ) {\displaystyle w_{k}\leftarrow w_{k}+\epsilon \alpha _{t}(x_{i}-w_{k})} . If w k {\displaystyle w_{k}} and x i {\displaystyle x_{i}} have different classes, and w j {\displaystyle w_{j}} and x i {\displaystyle x_{i}} have different classes, then the original paper simply does not explain what happens in this case, but presumably nothing happens in this case. Otherwise, skip. Note that condition min ( d j d k , d k d j ) > s {\displaystyle \min \left({\frac {d_{j}}{d_{k}}},{\frac {d_{k}}{d_{j}}}\right)>s} , where s = 1 − w 1 + w {\displaystyle s={\frac {1-w}{1+w}}} , precisely means that the point x i {\displaystyle x_{i}} falls between two Apollonian spheres.
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