37,857 research outputs found
Applications of Biological Cell Models in Robotics
In this paper I present some of the most representative biological models
applied to robotics. In particular, this work represents a survey of some
models inspired, or making use of concepts, by gene regulatory networks (GRNs):
these networks describe the complex interactions that affect gene expression
and, consequently, cell behaviour
Molding the Knowledge in Modular Neural Networks
Problem description. The learning of monolithic neural networks becomes harder with growing network size. Likewise the knowledge obtained while learning becomes harder to extract. Such disadvantages are caused by a lack of internal structure, that by its presence would reduce the degrees of freedom in evolving to a training target. A suitable internal structure with respect to modular network construction as well as to nodal discrimination is required. Details on the grouping and selection of nodes can sometimes be concluded from the characteristics of the application area; otherwise a comprehensive search within the solution space is necessary
Neural Distributed Autoassociative Memories: A Survey
Introduction. Neural network models of autoassociative, distributed memory
allow storage and retrieval of many items (vectors) where the number of stored
items can exceed the vector dimension (the number of neurons in the network).
This opens the possibility of a sublinear time search (in the number of stored
items) for approximate nearest neighbors among vectors of high dimension. The
purpose of this paper is to review models of autoassociative, distributed
memory that can be naturally implemented by neural networks (mainly with local
learning rules and iterative dynamics based on information locally available to
neurons). Scope. The survey is focused mainly on the networks of Hopfield,
Willshaw and Potts, that have connections between pairs of neurons and operate
on sparse binary vectors. We discuss not only autoassociative memory, but also
the generalization properties of these networks. We also consider neural
networks with higher-order connections and networks with a bipartite graph
structure for non-binary data with linear constraints. Conclusions. In
conclusion we discuss the relations to similarity search, advantages and
drawbacks of these techniques, and topics for further research. An interesting
and still not completely resolved question is whether neural autoassociative
memories can search for approximate nearest neighbors faster than other index
structures for similarity search, in particular for the case of very high
dimensional vectors.Comment: 31 page
Parallel growing and training of neural networks using output parallelism
In order to find an appropriate architecture for a large-scale real-world application automatically and efficiently, a natural method is to divide the original problem into a set of sub-problems. In this paper, we propose a simple neural network task decomposition method based on output parallelism. By using this method, a problem can be divided flexibly into several sub-problems as chosen, each of which is composed of the whole input vector and a fraction of the output vector. Each module (for one sub-problem) is responsible for producing a fraction of the output vector of the original problem. The hidden structure for the original problem’s output units are decoupled. These modules can be grown and trained in parallel on parallel processing elements. Incorporated with a constructive learning algorithm, our method does not require excessive computation and any prior knowledge concerning decomposition. The feasibility of output parallelism is analyzed and proved. Some benchmarks are implemented to test the validity of this method. Their results show that this method can reduce computational time, increase learning speed and improve generalization accuracy for both classification and regression problems
Integrating Evolutionary Computation with Neural Networks
There is a tremendous interest in the development of the evolutionary computation techniques as they are well suited to deal with optimization of functions containing a large number of variables. This paper presents a brief review of evolutionary computing techniques. It also discusses briefly the hybridization of evolutionary computation and neural networks and presents a solution of a classical problem using neural computing and evolutionary computing technique
Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
In this work, we propose a novel robot learning framework called Neural Task
Programming (NTP), which bridges the idea of few-shot learning from
demonstration and neural program induction. NTP takes as input a task
specification (e.g., video demonstration of a task) and recursively decomposes
it into finer sub-task specifications. These specifications are fed to a
hierarchical neural program, where bottom-level programs are callable
subroutines that interact with the environment. We validate our method in three
robot manipulation tasks. NTP achieves strong generalization across sequential
tasks that exhibit hierarchal and compositional structures. The experimental
results show that NTP learns to generalize well to- wards unseen tasks with
increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201
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