53,338 research outputs found
Hierarchical Decomposition of Nonlinear Dynamics and Control for System Identification and Policy Distillation
The control of nonlinear dynamical systems remains a major challenge for
autonomous agents. Current trends in reinforcement learning (RL) focus on
complex representations of dynamics and policies, which have yielded impressive
results in solving a variety of hard control tasks. However, this new
sophistication and extremely over-parameterized models have come with the cost
of an overall reduction in our ability to interpret the resulting policies. In
this paper, we take inspiration from the control community and apply the
principles of hybrid switching systems in order to break down complex dynamics
into simpler components. We exploit the rich representational power of
probabilistic graphical models and derive an expectation-maximization (EM)
algorithm for learning a sequence model to capture the temporal structure of
the data and automatically decompose nonlinear dynamics into stochastic
switching linear dynamical systems. Moreover, we show how this framework of
switching models enables extracting hierarchies of Markovian and
auto-regressive locally linear controllers from nonlinear experts in an
imitation learning scenario.Comment: 2nd Annual Conference on Learning for Dynamics and Contro
Hybrid Models with Deep and Invertible Features
We propose a neural hybrid model consisting of a linear model defined on a
set of features computed by a deep, invertible transformation (i.e. a
normalizing flow). An attractive property of our model is that both
p(features), the density of the features, and p(targets | features), the
predictive distribution, can be computed exactly in a single feed-forward pass.
We show that our hybrid model, despite the invertibility constraints, achieves
similar accuracy to purely predictive models. Moreover the generative component
remains a good model of the input features despite the hybrid optimization
objective. This offers additional capabilities such as detection of
out-of-distribution inputs and enabling semi-supervised learning. The
availability of the exact joint density p(targets, features) also allows us to
compute many quantities readily, making our hybrid model a useful building
block for downstream applications of probabilistic deep learning.Comment: ICML 201
Training Dynamic Exponential Family Models with Causal and Lateral Dependencies for Generalized Neuromorphic Computing
Neuromorphic hardware platforms, such as Intel's Loihi chip, support the
implementation of Spiking Neural Networks (SNNs) as an energy-efficient
alternative to Artificial Neural Networks (ANNs). SNNs are networks of neurons
with internal analogue dynamics that communicate by means of binary time
series. In this work, a probabilistic model is introduced for a generalized
set-up in which the synaptic time series can take values in an arbitrary
alphabet and are characterized by both causal and instantaneous statistical
dependencies. The model, which can be considered as an extension of exponential
family harmoniums to time series, is introduced by means of a hybrid
directed-undirected graphical representation. Furthermore, distributed learning
rules are derived for Maximum Likelihood and Bayesian criteria under the
assumption of fully observed time series in the training set.Comment: Published in IEEE ICASSP 2019. Author's Accepted Manuscrip
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