Robert Boschgmbh

Koninklijke Philips Corporation N.v.

Sap Se

Robert Bosch Gmbh

Elise Van Der Pol

Max Welling

Michael Herman

Herke Van Hoof

Frans Adriaan Oliehoek

Daniel Worrall

A method for configuring a neural network which is designed to map measured data to one or more output variables. The method includes: transformation(s) of the measured data is/are specified which when applied to the measured data, is/are meant to induce the output variables supplied by the neural network to exhibit an invariant or equivariant behavior; at least one equation is set up which links a condition that the desired invariance or equivariance be given with the architecture of the neural network; by solving the at least one equation a feature is obtained that characterizes the desired architecture and/or a distribution of weights of the neural network in at least one location of this architecture; a neural network is configured in such a way that its architecture and/or its distribution of weights in at least one location of this architecture has/have all of the features ascertained in this way.

Configuring a neural network for equivariant or invariant behavior

Some embodiments are directed to a computer-implemented method of interacting with a physical environment according to a policy. The policy determines multiple action probabilities of respective actions based on an observable state of the physical environment. The policy includes a neural network parameterized by a set of parameters. The neural network determines the action probabilities by determining a final layer input from an observable state and applying a final layer of the neural network to the final layer input. The final layer is applied by applying a linear combination of a set of equivariant base weight matrices to the final layer input. The base weight matrices are equivariant in the sense that, for a set of multiple predefined transformations of the final layer input, each transformation causes a corresponding predefined action permutation of the base weight matrix output for the final layer input.

Physical environment interaction with an equivariant policy

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Amsterdam, Netherlands

Elise Van Der Pol