23,692 research outputs found
Echo State Networks with Self-Normalizing Activations on the Hyper-Sphere
Among the various architectures of Recurrent Neural Networks, Echo State
Networks (ESNs) emerged due to their simplified and inexpensive training
procedure. These networks are known to be sensitive to the setting of
hyper-parameters, which critically affect their behaviour. Results show that
their performance is usually maximized in a narrow region of hyper-parameter
space called edge of chaos. Finding such a region requires searching in
hyper-parameter space in a sensible way: hyper-parameter configurations
marginally outside such a region might yield networks exhibiting fully
developed chaos, hence producing unreliable computations. The performance gain
due to optimizing hyper-parameters can be studied by considering the
memory--nonlinearity trade-off, i.e., the fact that increasing the nonlinear
behavior of the network degrades its ability to remember past inputs, and
vice-versa. In this paper, we propose a model of ESNs that eliminates critical
dependence on hyper-parameters, resulting in networks that provably cannot
enter a chaotic regime and, at the same time, denotes nonlinear behaviour in
phase space characterised by a large memory of past inputs, comparable to the
one of linear networks. Our contribution is supported by experiments
corroborating our theoretical findings, showing that the proposed model
displays dynamics that are rich-enough to approximate many common nonlinear
systems used for benchmarking
Feedback control by online learning an inverse model
A model, predictor, or error estimator is often used by a feedback controller to control a plant. Creating such a model is difficult when the plant exhibits nonlinear behavior. In this paper, a novel online learning control framework is proposed that does not require explicit knowledge about the plant. This framework uses two learning modules, one for creating an inverse model, and the other for actually controlling the plant. Except for their inputs, they are identical. The inverse model learns by the exploration performed by the not yet fully trained controller, while the actual controller is based on the currently learned model. The proposed framework allows fast online learning of an accurate controller. The controller can be applied on a broad range of tasks with different dynamic characteristics. We validate this claim by applying our control framework on several control tasks: 1) the heating tank problem (slow nonlinear dynamics); 2) flight pitch control (slow linear dynamics); and 3) the balancing problem of a double inverted pendulum (fast linear and nonlinear dynamics). The results of these experiments show that fast learning and accurate control can be achieved. Furthermore, a comparison is made with some classical control approaches, and observations concerning convergence and stability are made
A characterization of the Edge of Criticality in Binary Echo State Networks
Echo State Networks (ESNs) are simplified recurrent neural network models
composed of a reservoir and a linear, trainable readout layer. The reservoir is
tunable by some hyper-parameters that control the network behaviour. ESNs are
known to be effective in solving tasks when configured on a region in
(hyper-)parameter space called \emph{Edge of Criticality} (EoC), where the
system is maximally sensitive to perturbations hence affecting its behaviour.
In this paper, we propose binary ESNs, which are architecturally equivalent to
standard ESNs but consider binary activation functions and binary recurrent
weights. For these networks, we derive a closed-form expression for the EoC in
the autonomous case and perform simulations in order to assess their behavior
in the case of noisy neurons and in the presence of a signal. We propose a
theoretical explanation for the fact that the variance of the input plays a
major role in characterizing the EoC
Empirical Analysis of the Necessary and Sufficient Conditions of the Echo State Property
The Echo State Network (ESN) is a specific recurrent network, which has
gained popularity during the last years. The model has a recurrent network
named reservoir, that is fixed during the learning process. The reservoir is
used for transforming the input space in a larger space. A fundamental property
that provokes an impact on the model accuracy is the Echo State Property (ESP).
There are two main theoretical results related to the ESP. First, a sufficient
condition for the ESP existence that involves the singular values of the
reservoir matrix. Second, a necessary condition for the ESP. The ESP can be
violated according to the spectral radius value of the reservoir matrix. There
is a theoretical gap between these necessary and sufficient conditions. This
article presents an empirical analysis of the accuracy and the projections of
reservoirs that satisfy this theoretical gap. It gives some insights about the
generation of the reservoir matrix. From previous works, it is already known
that the optimal accuracy is obtained near to the border of stability control
of the dynamics. Then, according to our empirical results, we can see that this
border seems to be closer to the sufficient conditions than to the necessary
conditions of the ESP.Comment: 23 pages, 14 figures, accepted paper for the IEEE IJCNN, 201
Towards a neural hierarchy of time scales for motor control
Animals show remarkable rich motion skills which are still far from realizable with robots. Inspired by the neural circuits which generate rhythmic motion patterns in the spinal cord of all vertebrates, one main research direction points towards the use of central pattern generators in robots. On of the key advantages of this, is that the dimensionality of the control problem is reduced. In this work we investigate this further by introducing a multi-timescale control hierarchy with at its core a hierarchy of recurrent neural networks. By means of some robot experiments, we demonstrate that this hierarchy can embed any rhythmic motor signal by imitation learning. Furthermore, the proposed hierarchy allows the tracking of several high level motion properties (e.g.: amplitude and offset), which are usually observed at a slower rate than the generated motion. Although these experiments are preliminary, the results are promising and have the potential to open the door for rich motor skills and advanced control
- …