Page 143 - Rapid Learning in Robotics
P. 143

9.2 “Investment Learning” or “Mixture-of-Expertise” Architecture                        129






                    Input


                         Context         Gating
                                        Network


                                T-Box                                Σ
                    Task  Variables   Expert 2                            Output
                              Expert 1


                                T-Box



                                T-Box
                              Expert 3







                                T-Box
                              Expert N                  ‘‘Mixture-of-Experts’’




                                                    ‘‘Mixture-of-Expertise’’
                  Input


                       Context
                                       Meta
                                    Network             Parameters
                                                         ω

                       Task Variables
                                                  T-Box
                                                  Expert

                                                            Output

                 Figure 9.4:    The “Mixture-of-Experts” architecture versus the “Mixture-of-
                 Expertise” architecture.
   138   139   140   141   142   143   144   145   146   147   148