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Dr Alan Blair

Senior Lecturer
Engineering
Computer Science and Engineering

Dr Alan Blair is a Senior Lecturer with the School of Computer Science and Engineering.
Phone
+61 2 9385 7131
E-mail
blair@cse.unsw.edu.au
  • Books | 2015
    Chalup S; Blair A; Randall M, 2015, Preface
  • Book Chapters | 2001
    Sklar E; Blair AD; Pollack JB, 2001, 'Training Intelligent Agents Using Human Data Collected on the Internet', in Series in Machine Perception and Artificial Intelligence, WORLD SCIENTIFIC, pp. 201 - 226,
    Book Chapters | 2001
    Versteeg S; Blair A, 2001, 'Getting the job done in a hostile environment', in , pp. 507 - 518,
    Book Chapters | 1999
    Blair AD; Sklar E; Funes P, 1999, 'Co-evolution, determinism and robustness', in McKay B; Yao X; Newton CS; Kim JH; Furuhashi T (ed.), , pp. 389 - 396,
    Book Chapters | 1999
    Tonkes B; Blair A; Wiles J, 1999, 'A paradox of neural encoders and decoders or why don’t we talk backwards??', in , pp. 357 - 364,
  • Journal articles | 2023
    Iyer S; Blair A; White C; Dawes L; Moses D; Sowmya A, 2023, 'Vertebral compression fracture detection using imitation learning, patch based convolutional neural networks and majority voting', Informatics in Medicine Unlocked, 38,
    Journal articles | 2022
    Iyer S; Blair A; Dawes L; Moses D; White C; Sowmya A, 2022, 'Supervised and semi-supervised 3D organ localisation in CT images combining reinforcement learning with imitation learning', Biomedical Physics and Engineering Express, 8,
    Journal articles | 2022
    Purwanto RW; Pal A; Blair A; Jha S, 2022, 'PhishSim: Aiding Phishing Website Detection With a Feature-Free Tool', IEEE Transactions on Information Forensics and Security, 17, pp. 1497 - 1512,
    Journal articles | 2019
    Blair A; Saffidine A, 2019, 'AI surpasses humans at six-player poker', Science, 365, pp. 864 - 865,
    Journal articles | 2019
    Long A; Mason J; Blair A; Wang W, 2019, 'Multi-hop Reading Comprehension via Deep Reinforcement Learning based Document Traversal', ,
    Journal articles | 2014
    Knittel A; Blair A, 2014, 'Sparse, guided feature connections in an Abstract Deep Network', ,
    Journal articles | 2013
    Coleman OJ; Blair AD, 2013, 'Models of brains: What should we borrow from biology?', AAAI Fall Symposium - Technical Report, FS-13-02, pp. 10 - 15
    Journal articles | 2005
    Fogel D; Blair AD; Miikkulainen R, 2005, 'Special issue: Evolutionary computation and games', IEEE Transactions on Evolutionary Computation, 9, pp. 537 - 539
    Journal articles | 2005
    Fogel DB; Blair AD; Miikkulainen R, 2005, 'Guest editorial special issue: Evolutionary computation and games', IEEE Transactions on Evolutionary Computation, 9, pp. 537 - 539,
    Journal articles | 2003
    Blair AD; Ingram J, 2003, 'Learning to Predict the Phonological Structure of English Loanwords in Japanese', Applied Intelligence, 19, pp. 101 - 108
    Journal articles | 2003
    Boden M; Blair AD, 2003, 'Learning the Dynamics of Embedded Clauses', Applied Intelligence, 19, pp. 51 - 63
    Journal articles | 2003
    Chalup SK; Blair AD, 2003, 'Incremental training of first order recurrent neutral networks to predict a context-sensitive language', Neural Networks, 16, pp. 955 - 972
    Journal articles | 2000
    Wiles J; Chenery HJ; Hallinan J; Blair A; Naumann D, 2000, 'Stroop performance in Alzheimer's disease: A preliminary test of theories of damage using a connectionist simulation', BRAIN AND LANGUAGE, 74, pp. 341 - 344,
    Journal articles | 2000
    2000, 'Poster Session 1', Brain and Language, 74, pp. 315 - 364,
    Journal articles | 1998
    Pollack JB; Blair AD, 1998, 'Co-Evolution in the successful learning of backgammon strategy', Machine Learning, 32, pp. 225 - 240,
    Journal articles | 1997
    Blair AD; Pollack JB, 1997, 'Analysis of Dynamical Recognizers', Neural Computation, 9, pp. 1127 - 1142,
    Journal articles | 1995
    BLAIR AD, 1995, 'ADELIC PATH SPACE INTEGRALS', REVIEWS IN MATHEMATICAL PHYSICS, 7, pp. 21 - 49,
  • Conference Papers | 2024
    Gao J; Blair A; Pagnucco M, 2024, 'Explainable Visual Question Answering via Hybrid Neural-Logical Reasoning', in Proceedings of the International Joint Conference on Neural Networks,
    Conference Papers | 2024
    Mezza S; Wobcke W; Blair A, 2024, 'Exploiting Dialogue Acts and Context to Identify Argumentative Relations in Online Debates', in ArgMining 2024 - 11th Workshop on Argument Mining, Proceedings of the Workshop, pp. 36 - 45
    Conference Papers | 2023
    Gao J; Blair A; Pagnucco M, 2023, 'A Symbolic-Neural Reasoning Model for Visual Question Answering', in Proceedings of the International Joint Conference on Neural Networks,
    Conference Papers | 2023
    Gao J; Blair A; Wu Q; Pagnucco M, 2023, 'LoRA: A Logical Reasoning Augmented Dataset for Visual Question Answering', in Advances in Neural Information Processing Systems
    Conference Papers | 2023
    Rahman MA; Singh S; Shanmugalingam K; Iyer S; Blair A; Ravindran P; Sowmya A, 2023, 'Attention and Pooling based Sigmoid Colon Segmentation in 3D CT images', in 2023 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2023, pp. 312 - 319,
    Conference Papers | 2022
    Iyer S; Blair A; White C; Dawes L; Moses D; Sowmya A, 2022, 'Vertebral Compression Fracture detection using Multiple Instance Learning and Majority Voting', in Proceedings - International Conference on Pattern Recognition, pp. 4630 - 4636,
    Conference Papers | 2022
    Li X; Blair A, 2022, 'Eccentric regularization: minimizing hyperspherical energy without explicit projection', in Proceedings of the International Joint Conference on Neural Networks,
    Conference Papers | 2022
    Long A; Blair A; van Hoof H, 2022, 'Fast and Data Efficient Reinforcement Learning from Pixels via Non-parametric Value Approximation', in Proceedings of the 36th AAAI Conference on Artificial Intelligence, AAAI Press, Palo Alto, California USA, Virtual, pp. 7620 - 7627, presented at AAAI Conference on Artificial Intelligence, Virtual, 22 February 2022 - 01 March 2022,
    Conference Papers | 2022
    Long A; Yin W; Ajanthan T; Nguyen V; Purkait P; Garg R; Blair A; Shen C; Van Den Hengel A, 2022, 'Retrieval Augmented Classification for Long-Tail Visual Recognition', in Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 6949 - 6959,
    Conference Papers | 2022
    Mezza S; Wobcke W; Blair A, 2022, 'A Multi-Dimensional, Cross-Domain and Hierarchy-Aware Neural Architecture for ISO-Standard Dialogue Act Tagging', in Calzolari N (ed.), Proceedings of the 29th International Conference on Computational Linguistics, International Committee on Computational Linguistics, Gyeongju, Republic of Korea, pp. 542 - 552, presented at International Conference on Computational Linguistics, Gyeongju, Republic of Korea, 12 October 2022 - 17 October 2022,
    Preprints | 2022
    Purwanto R; Pal A; Blair A; Jha S, 2022, PhishSim: Aiding Phishing Website Detection with a Feature-Free Tool, ,
    Preprints | 2021
    Hadjiivanov A; Blair A, 2021, Epigenetic evolution of deep convolutional models, ,
    Preprints | 2021
    Iyer S; Blair A; Dawes L; Moses D; White C; Sowmya A, 2021, Organ localisation using supervised and semi supervised approaches combining reinforcement learning with imitation learning,
    Preprints | 2021
    Purwanto R; Pal A; Blair A; Jha S, 2021, Man versus Machine: AutoML and Human Experts' Role in Phishing Detection, ,
    Preprints | 2020
    Hadjiivanov A; Blair A, 2020, Complexity-based speciation and genotype representation for neuroevolution, ,
    Conference Papers | 2020
    Iyer S; Sowmya A; Blair A; White C; Dawes L; Moses D, 2020, 'A Novel Approach to Vertebral Compression Fracture Detection Using Imitation Learning and Patch Based Convolutional Neural Network', in Proceedings - International Symposium on Biomedical Imaging, pp. 726 - 730,
    Conference Papers | 2020
    Purwanto R; Pal A; Blair A; Jha S, 2020, 'PhishZip: A New Compression-based Algorithm for Detecting Phishing Websites', in 2020 IEEE CONFERENCE ON COMMUNICATIONS AND NETWORK SECURITY (CNS), IEEE, ELECTR NETWORK, presented at IEEE Conference on Communications and Network Security (CNS), ELECTR NETWORK, 28 June 2020 - 01 July 2020,
    Preprints | 2020
    Purwanto R; Pal A; Blair A; Jha S, 2020, PhishZip: A New Compression-based Algorithm for Detecting Phishing Websites, ,
    Conference Papers | 2020
    Purwanto R; Paly A; Blair A; Jha S, 2020, 'PhishZip: A New Compression-based Algorithm for Detecting Phishing Websites', in 2020 IEEE Conference on Communications and Network Security, CNS 2020,
    Conference Papers | 2019
    Blair A, 2019, 'Adversarial Evolution and Deep Learning – How Does an Artist Play with Our Visual System?', in Ekárt A; Liapis A; Castro Pena ML (eds.), Lecture Notes in Computer Science, Springer, Leipzig, pp. 18 - 34, presented at International Conference on Computational Intelligence in Music, Sound, Art and Design, Leipzig, 24 April 2019 - 26 April 2019,
    Conference Papers | 2019
    Hadjiivanov A; Blair A, 2019, 'Epigenetic evolution of deep convolutional models', in 2019 IEEE Congress on Evolutionary Computation, CEC 2019 - Proceedings, pp. 1478 - 1486,
    Conference Papers | 2018
    Soderlund J; Blair A, 2018, 'Adversarial Image Generation using Evolution and Deep Learning', in 2018 IEEE Congress on Evolutionary Computation (CEC), IEEE, Rio de Janiero, Brazil, presented at 2018 IEEE Congress on Evolutionary Computation (CEC), Rio de Janiero, Brazil, 08 July 2018 - 13 July 2018,
    Conference Papers | 2017
    Blair AD; collien D; ripley D; griffith S, 2017, 'Constructivist simulations for path search algorithms', in Huda N; Inglis D; Tse N; Town G (eds.), 28th Annual Conference of the Australasian Association for Engineering Education, Australasian Association for Engineering Education, Sydney, Australia, pp. 990 - 998, presented at 28th Annual Conference of the Australasian Association for Engineering Education, Sydney, Australia, 10 December 2017 - 13 December 2017,
    Conference Papers | 2017
    Vickers D; Soderlund J; Blair A, 2017, 'Co-evolving line drawings with hierarchical evolution', in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Geelong, VIC, Australia, pp. 39 - 49, presented at Third Australasian Conference, ACALCI 2017, Geelong, VIC, Australia, 31 January 2017 - 02 February 2017,
    Conference Papers | 2016
    Real DM; Blair AD, 2016, 'Learning a multi-player chess game with TreeStrap', in 2016 IEEE Congress on Evolutionary Computation (CEC), IEEE, Vancouver, Canada, pp. 617 - 623, presented at IEEE Congress on Evolutionary Computation, Vancouver, Canada, 24 July 2016 - 29 July 2016,
    Conference Papers | 2016
    Soderlund JN; Vickers DJ; Blair AD, 2016, 'Parallel Hierarchical Evolution of String Library Functions', in Handl J (ed.), Lecture Notes in Computer Science, Springer, Edinburgh, pp. 281 - 291, presented at Parallel Problem Solving from Nature, Edinburgh, 17 September 2016 - 21 September 2016,
    Conference Papers | 2016
    hadjiivanov AL; Blair AD, 2016, 'Complexity-based speciation and genotype representation for neuroevolution', in Evolutionary Computation (CEC), 2016 IEEE Congress on, IEEE Press, Vancouver, pp. 3092 - 3101, presented at IEEE Congress on Evolutionary Computation, Vancouver, 24 July 2016 - 29 July 2016,
    Conference Papers | 2015
    Blair AD, 2015, 'Transgenic Evolution for Classification Tasks with HERCL', in Chalup SK; Blair AD; Randall M (eds.), Lecture Notes in Computer Science, Springer, Newcastle, Australia, pp. 185 - 195, presented at Australasian Conference on Artificial Life and Computational Intelligence, Newcastle, Australia, 05 February 2015 - 07 February 2015,
    Conference Papers | 2015
    Chalup S; Blair A; Randall M, 2015, 'Artificial Life and Computational Intelligence: First Australasian Conference, ACALCI 2015 Newcastle, NSW, Australia, February 5-7, 2015 Proceedings', in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics),
    Conference Papers | 2014
    Blair AD, 2014, 'Incremental evolution of HERCL programs for robust control', in Proceedings of the 2014 conference companion on Genetic and evolutionary computation companion, ACM, Vancouver, Canada, presented at Genetic and Evolutionary Computation Conference, Vancouver, Canada, 12 July 2014 - 16 July 2014,
    Conference Papers | 2014
    Coleman OJ; Blair AD; Clune J, 2014, 'Automated generation of environments to test the general learning capabilities of AI agents', in GECCO 2014 - Proceedings of the 2014 Genetic and Evolutionary Computation Conference, pp. 161 - 168,
    Conference Papers | 2014
    Knittel A; Blair A, 2014, 'Coarse and Fine Learning in Deep Networks', in 2014 International Joint Conference on Neural Networks Artificial Intelligence, Neural Networks Conference, IEEE, Beijing, pp. 792 - 799, presented at International Joint Conference on Neural Networks, Beijing, 06 July 2014 - 11 July 2014,
    Conference Papers | 2013
    Blair AD, 2013, 'Learning the Caesar and Vigenere Cipher by Hierarchical Evolutionary Re-Combination', in 2013 IEEE Congress on Evolutionary Computation (CEC 2013), IEEE, Cancun, Mexico, presented at 2013 IEEE Congress on Evolutionary Computation (CEC), Cancun, Mexico, 20 June 2013 - 23 June 2013
    Conference Papers | 2013
    Gurto D; Ryan MR; Blair A, 2013, 'Crafty: Dynamic vendor pricing in computer role-playing games', in Proceedings of the 6th International Conference on Foundations of Digital Games, Association for Computing Machinery, New York, pp. 286 - 288, presented at 7th International Conference on the Foundations of Digital Games, Chania, Crete, 13 May 2013 - 17 May 2013,
    Conference Papers | 2012
    Anthony EK; Blair A, 2012, 'An Abstract Deep Network for Image Classification', in Proceedings of the 25th Australasian Joint Conference on Artificial Intelligence, Springer Verlag, Sydney, Australia, pp. 156 - 169, presented at 25th Australasian Joint Conference on Artificial Intelligence, Sydney, Australia, 04 December 2012 - 07 December 2012
    Conference Papers | 2012
    Coleman O; Blair AD, 2012, 'Evolving Plastic Neural Networks for Online Learning: Review and Future Directions', in Proceedings of the 25th Australasian Joint Conference on Artificial Intelligence, Springer Verlag, Sydney, Australia, pp. 326 - 337, presented at 25th Australasian Joint Conference on Artificial Intelligence, Sydney, Australia, 04 December 2012 - 07 December 2012,
    Conference Papers | 2009
    Blair A; Li G, 2009, 'Training of Recurrent Internal Symmetry Networks by Backpropagation', in IJCNN: 2009 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1- 6, IEEE, GA, Atlanta, pp. 2027 - 2032, presented at International Joint Conference on Neural Networks, GA, Atlanta, 14 June 2009 - 19 June 2009,
    Conference Papers | 2009
    Blair AD; Li G, 2009, 'Training of Recurrent Internal Symmetry Networks by Backpropagation', in International Joint Conference on Neural Networks (IJCNN) 2009, IEEE, Atlanta, USA, presented at International Joint Conference on Neural Networks 2009, Atlanta, USA, 14 June 2009 - 19 June 2009
    Conference Papers | 2009
    Vasudevan S; Ramos F; Nettleton E; Durrant-Whyte H; Blair A, 2009, 'Gaussian process modeling of large scale terrain', in Proceedings - IEEE International Conference on Robotics and Automation, pp. 1047 - 1053,
    Conference Papers | 2008
    Blair AD, 2008, 'Learning position evaluation for go with internal symmetry networks', in 2008 IEEE symposium on computational intelligence and games, Proceedings, Perth, Australia, presented at 2008 IEEE symposium on computational intelligence and games, Perth, Australia, 15 December 2008 - 18 December 2008
    Conference Papers | 2008
    Veness JW; Silver D; Uther WT; Blair AD, 2008, 'Bootstrapping from Game Tree Search', in Advances in Neural Information Processing Systems 22, Vancouver, BC, Canada, presented at 22nd Annual Conference on Neural Information Processing Systems, NIPS 2008, Vancouver, BC, Canada, 08 December 2008 - 11 December 2008,
    Conference Papers | 2007
    Blair AD; Veness JW, 2007, 'Effective use of transposition tables in stochastic game tree search', in 2007 IEEE Symposium on Computational Intelligence and Games (CIG 2007), Honolulu, Hawaii, presented at IEEE Symposium on Computational Intelligence and Games (CIG 2007) 2007, Honolulu, Hawaii, 01 April 2007 - 05 April 2007
    Conference Papers | 2007
    Tonkes BJ; Blair AD, 2007, 'Decentralised data fusion with exponentials of polynomials', in 20 Years of Innovative Robotics, San Diego, CA, presented at 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, 29 October 2007 - 02 November 2007
    Conference Papers | 2007
    Tonkes BJ; Blair AD, 2007, 'Deriving sensor models and non-linear filtering for exponentials of polynomials', in 2007 Australasian conference on robotics and automation, Brisbane, Qld, presented at Australasian conference on robotics and automation 2007, Brisbane, Qld, 10 December 2007 - 12 December 2007
    Conference Papers | 2006
    Harper R; Blair A, 2006, 'A self-selecting crossover operator', in 2006 IEEE Congress on Evolutionary Computation, CEC 2006, pp. 1420 - 1427
    Conference Papers | 2006
    Harper R; Blair A, 2006, 'Dynamically defined functions in grammatical evolution', in 2006 IEEE Congress on Evolutionary Computation, CEC 2006, pp. 2638 - 2645
    Conference Papers | 2006
    Harper RT; Blair AD, 2006, 'A self-selecting crossover operator', in 2006 IEEE Congress on Evolutionary Computation (CEC 2006), The Institute of Electrical and Electronics Engineers, Inc., Vancouver BC Canada, presented at IEEE Congress on Evolutionary Computation (CEC 2006), Vancouver BC Canada, 16 July 2006 - 21 July 2006
    Conference Papers | 2006
    Harper RT; Blair AD, 2006, 'Dynamically Defined Functions in Grammatical Evolution', in 2006 IEEE Congress on Evolutionary Computation (CEC 2006), The Institute of Electrical and Electronics Engineers, Inc., Vancouver BC Canada, presented at IEEE Congress on Evolutionary Computation (CEC 2006), Vancouver BC Canada, 16 July 2006 - 21 July 2006
    Conference Papers | 2006
    Kiang K; Willgoss RA; Blair AD, 2006, 'Distinctness analysis on natural landmark descriptors', in International Conference on Field and Service Robotics 2005, Port Douglas, Australia, presented at International Conference on Field and Service Robotics 2005, Port Douglas, Australia, 28 July 2006 - 31 July 2006
    Conference Papers | 2006
    Kiang K; Willgoss RA; Blair AD, 2006, 'Texture and distinctness analysis for natural feature extraction', in Proceedings of the Australasian conference on robotics and automation, Australasian conference on robotics and automation 2006, Auckland, New Zealand, presented at Australasian conference on robotics and automation 2006, Auckland, New Zealand, 06 December 2006 - 08 December 2006
    Conference Papers | 2006
    Phua C; Blair AD, 2006, 'An improved minibrain that learns through both positive and negative feedback', in 2006 International Joint Conference on Neural Networks, Vancouver BC Canada, pp. 812 - 819, presented at International Joint Conference on Neural Networks 2006, Vancouver BC Canada, 16 July 2006 - 21 July 2006
    Conference Papers | 2005
    Harper RT; Blair AD, 2005, 'A structure preserving crossover in grammatical evolution', in 2005 IEEE Congress on Evolutionary Computation (CEC), Munchen, Germany, presented at 7th IEEE international conference on e-commerce technology (CEC 2005), Munchen, Germany, 19 July 2005 - 22 July 2005
    Conference Papers | 2005
    Kiang K; Willgoss RA; Blair AD, 2005, 'Distinctness analysis on natural landmark descriptors', in Field and Service Robotics 2005, Port Douglas, Australia, presented at Field and Service Robotics 2005, Port Douglas, Australia, 28 July 2005 - 31 July 2005
    Conference Papers | 2005
    Kiang K; Willgoss RA; Blair AD, 2005, 'Texture and distinctness analysis for natural feature extraction', in Proceedings of the Australasian conference on robotics and automation, University of New South Wales, presented at Australasian conference on robotics and automation 2005, University of New South Wales, 05 December 2005 - 07 December 2005
    Conference Papers | 2004
    Kiang K; Willgoss RA; Blair AD, 2004, 'Distinctive feature analysis of natural landmarks as a front end for SLAM applications.', in Autonomous Robots and Agents, Springer, Berlin/Heidelberg, presented at Autonomous Robots and Agents, Massey University, New Zealand, 13 December 2004 - 15 December 2004
    Conference Papers | 2002
    Chalup SK; Blair AD, 2002, 'Software for analysing recurrent neural nets that learn to predict non-regular languages', in Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science), pp. 296 - 298,
    Conference Papers | 2002
    Clarke K; Dempster S; Falcao I; Jones B; Rudolph D; Blair A; McCarthy C; Walter D; Barnes N, 2002, 'RoboMutts++', in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), pp. 713 - 716,
    Conference Papers | 2002
    Ord T; Blair AD, 2002, 'Exploitation and peacekeeping: introducing more sophisticated interactions to the Iterated Prisoner`s Dilemma', in Proceedings of the World Congress on Computational Intelligence, Honolulu, Hawaii, presented at World Congress on Computational Intelligence, Honolulu, Hawaii, 12 May 2002 - 17 May 2002
    Conference Papers | 2001
    Sim R; Russo P; Graham A; Blair A; Barnes N; Blair A, 2001, 'RoboMutts', in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), pp. 647 - 650,
    Conference Papers | 2000
    Tonkes B; Blair A; Wiles J, 2000, 'Evolving learnable languages', in Advances in Neural Information Processing Systems, pp. 66 - 72
    Conference Papers | 1999
    Blair AD; Sklar E, 1999, 'Exploring evolutionary learning in a simulated hockey environment', in Proceedings of the 1999 Congress on Evolutionary Computation, CEC 1999, pp. 197 - 203,
    Conference Papers | 1999
    Boden M; Wiles J; Tonkes B; Blair A, 1999, 'Learning to predict a context-free language: Analysis of dynamics in recurrent hidden units', in IEE Conference Publication, pp. 359 - 364,
    Conference Papers | 1999
    Chalup S; Blair AD, 1999, 'Hill climbing in recurrent neural networks for learning the an/bsup n/cn language', in ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings, pp. 508 - 513,
    Conference Papers | 1997
    Pollack JB; Blair AD, 1997, 'Why did TD-Gammon work?', in Advances in Neural Information Processing Systems, pp. 10 - 16