Examining the Use of Temporal-Difference Incremental Delta-Bar-Delta for Real-World Predictive Knowledge Architectures
Bibliographic record
Abstract
). Typically, these parameters are chosen based on an extensive parameter search-an approach that neither scales well nor is well-suited for tasks that require changing step sizes due to non-stationarity. To begin to address this challenge, we examine the use of online step-size adaptation using the Modular Prosthetic Limb: a sensor-rich robotic arm intended for use by persons with amputations. Our method of choice, Temporal-Difference Incremental Delta-Bar-Delta (TIDBD), learns and adapts step sizes on a feature level; importantly, TIDBD allows step-size tuning and representation learning to occur at the same time. As a first contribution, we show that TIDBD is a practical alternative for classic Temporal-Difference (TD) learning via an extensive parameter search. Both approaches perform comparably in terms of predicting future aspects of a robotic data stream, but TD only achieves comparable performance with a carefully hand-tuned learning rate, while TIDBD uses a robust meta-parameter and tunes its own learning rates. Secondly, our results show that for this particular application TIDBD allows the system to automatically detect patterns characteristic of sensor failures common to a number of robotic applications. As a third contribution, we investigate the sensitivity of classic TD and TIDBD with respect to the initial step-size values on our robotic data set, reaffirming the robustness of TIDBD as shown in previous papers. Together, these results promise to improve the ability of robotic devices to learn from interactions with their environments in a robust way, providing key capabilities for autonomous agents and robots.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.007 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.002 | 0.001 |
| Research integrity | 0.001 | 0.002 |
| Insufficient payload (model declined to judge) | 0.003 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".