Dynamics of Supervised Learning with Restricted Training Sets

We study the dynamics of supervised learning in layered neural networks, in the regime where the size $p$ of the training set is proportional to the number $N$ of inputs. Here the local fields are no longer described by Gaussian probability distributions. We show how dynamical replica theory can be used to predict the evolution of macroscopic observables, including the relevant performance measures, incorporating the old formalism in the limit $\alpha=p/N\to\infty$ as a special case. For simplicity we restrict ourselves to single-layer networks and realizable tasks.Comment: 36 pages, latex2e, 12 eps figures (to be publ in: Proc Newton Inst Workshop on On-Line Learning '97

Sim-to-Real Transfer of Robotic Control with Dynamics Randomization

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often specific to the characteristics of the simulator. Due to modeling error, strategies that are successful in simulation may not transfer to their real world counterparts. In this paper, we demonstrate a simple method to bridge this "reality gap". By randomizing the dynamics of the simulator during training, we are able to develop policies that are capable of adapting to very different dynamics, including ones that differ significantly from the dynamics on which the policies were trained. This adaptivity enables the policies to generalize to the dynamics of the real world without any training on the physical system. Our approach is demonstrated on an object pushing task using a robotic arm. Despite being trained exclusively in simulation, our policies are able to maintain a similar level of performance when deployed on a real robot, reliably moving an object to a desired location from random initial configurations. We explore the impact of various design decisions and show that the resulting policies are robust to significant calibration error

Dynamics of Learning with Restricted Training Sets I: General Theory

We study the dynamics of supervised learning in layered neural networks, in the regime where the size $p$ of the training set is proportional to the number $N$ of inputs. Here the local fields are no longer described by Gaussian probability distributions and the learning dynamics is of a spin-glass nature, with the composition of the training set playing the role of quenched disorder. We show how dynamical replica theory can be used to predict the evolution of macroscopic observables, including the two relevant performance measures (training error and generalization error), incorporating the old formalism developed for complete training sets in the limit $\alpha=p/N\to\infty$ as a special case. For simplicity we restrict ourselves in this paper to single-layer networks and realizable tasks.Comment: 39 pages, LaTe

On-Line Learning with Restricted Training Sets: An Exactly Solvable Case

We solve the dynamics of on-line Hebbian learning in large perceptrons exactly, for the regime where the size of the training set scales linearly with the number of inputs. We consider both noiseless and noisy teachers. Our calculation cannot be extended to non-Hebbian rules, but the solution provides a convenient and welcome benchmark with which to test more general and advanced theories for solving the dynamics of learning with restricted training sets.Comment: 19 pages, eps figures included, uses epsfig macr

The Dynamics of a Genetic Algorithm for a Simple Learning Problem

A formalism for describing the dynamics of Genetic Algorithms (GAs) using methods from statistical mechanics is applied to the problem of generalization in a perceptron with binary weights. The dynamics are solved for the case where a new batch of training patterns is presented to each population member each generation, which considerably simplifies the calculation. The theory is shown to agree closely to simulations of a real GA averaged over many runs, accurately predicting the mean best solution found. For weak selection and large problem size the difference equations describing the dynamics can be expressed analytically and we find that the effects of noise due to the finite size of each training batch can be removed by increasing the population size appropriately. If this population resizing is used, one can deduce the most computationally efficient size of training batch each generation. For independent patterns this choice also gives the minimum total number of training patterns used. Although using independent patterns is a very inefficient use of training patterns in general, this work may also prove useful for determining the optimum batch size in the case where patterns are recycled.Comment: 28 pages, 4 Postscript figures. Latex using IOP macros ioplppt and iopl12 which are included. To appear in Journal of Physics A. Also available at ftp://ftp.cs.man.ac.uk/pub/ai/jls/GAlearn.ps.gz and http://www.cs.man.ac.uk/~jl

Dynamics of on-line Hebbian learning with structurally unrealizable restricted training sets

We present an exact solution for the dynamics of on-line Hebbian learning in neural networks, with restricted and unrealizable training sets. In contrast to other studies on learning with restricted training sets, unrealizability is here caused by structural mismatch, rather than data noise: the teacher machine is a perceptron with a reversed wedge-type transfer function, while the student machine is a perceptron with a sigmoidal transfer function. We calculate the glassy dynamics of the macroscopic performance measures, training error and generalization error, and the (non-Gaussian) student field distribution. Our results, which find excellent confirmation in numerical simulations, provide a new benchmark test for general formalisms with which to study unrealizable learning processes with restricted training sets.Comment: 7 pages including 3 figures, using IOP latex2e preprint class fil