51,104 research outputs found
An analogue recurrent neural networks for trajectory learning and other industrial applications
A real-time analogue recurrent neural network (RNN) can extract and learn the unknown dynamics (and features) of a typical control system such as a robot manipulator. The task at hand is a tracking problem in the presence of disturbances. With reference to the tasks assigned to an industrial robot, one important issue is to determine the motion of the joints and the effector of the robot. In order to model robot dynamics we use a neural network that can be implemented in hardware. The synaptic weights are modelled as variable gain cells that can be implemented with a few MOS transistors. The network output signals portray the periodicity and other characteristics of the input signal in unsupervised mode. For the specific purpose of demonstrating the trajectory learning capabilities, a periodic signal with varying characteristics is used. The developed architecture, however, allows for more general learning tasks typical in applications of identification and control. The periodicity of the input signal ensures convergence of the output to a limit cycle. Online versions of the synaptic update can be formulated using simple CMOS circuits. Because the architecture depends on the network generating a stable limit cycle, and consequently a periodic solution which is robust over an interval of parameter uncertainties, we currently place the restriction of a periodic format for the input signals. The simulated network contains interconnected recurrent neurons with continuous-time dynamics. The system emulates random-direction descent of the error as a multidimensional extension to the stochastic approximation. To achieve unsupervised learning in recurrent dynamical systems we propose a synapse circuit which has a very simple structure and is suitable for implementation in VLSI
Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module
The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project
Nanophotonic reservoir computing with photonic crystal cavities to generate periodic patterns
Reservoir computing (RC) is a technique in machine learning inspired by neural systems. RC has been used successfully to solve complex problems such as signal classification and signal generation. These systems are mainly implemented in software, and thereby they are limited in speed and power efficiency. Several optical and optoelectronic implementations have been demonstrated, in which the system has signals with an amplitude and phase. It is proven that these enrich the dynamics of the system, which is beneficial for the performance. In this paper, we introduce a novel optical architecture based on nanophotonic crystal cavities. This allows us to integrate many neurons on one chip, which, compared with other photonic solutions, closest resembles a classical neural network. Furthermore, the components are passive, which simplifies the design and reduces the power consumption. To assess the performance of this network, we train a photonic network to generate periodic patterns, using an alternative online learning rule called first-order reduced and corrected error. For this, we first train a classical hyperbolic tangent reservoir, but then we vary some of the properties to incorporate typical aspects of a photonics reservoir, such as the use of continuous-time versus discrete-time signals and the use of complex-valued versus real-valued signals. Then, the nanophotonic reservoir is simulated and we explore the role of relevant parameters such as the topology, the phases between the resonators, the number of nodes that are biased and the delay between the resonators. It is important that these parameters are chosen such that no strong self-oscillations occur. Finally, our results show that for a signal generation task a complex-valued, continuous-time nanophotonic reservoir outperforms a classical (i.e., discrete-time, real-valued) leaky hyperbolic tangent reservoir (normalized root-mean-square errors = 0.030 versus NRMSE = 0.127)
Lifelong Sequential Modeling with Personalized Memorization for User Response Prediction
User response prediction, which models the user preference w.r.t. the
presented items, plays a key role in online services. With two-decade rapid
development, nowadays the cumulated user behavior sequences on mature Internet
service platforms have become extremely long since the user's first
registration. Each user not only has intrinsic tastes, but also keeps changing
her personal interests during lifetime. Hence, it is challenging to handle such
lifelong sequential modeling for each individual user. Existing methodologies
for sequential modeling are only capable of dealing with relatively recent user
behaviors, which leaves huge space for modeling long-term especially lifelong
sequential patterns to facilitate user modeling. Moreover, one user's behavior
may be accounted for various previous behaviors within her whole online
activity history, i.e., long-term dependency with multi-scale sequential
patterns. In order to tackle these challenges, in this paper, we propose a
Hierarchical Periodic Memory Network for lifelong sequential modeling with
personalized memorization of sequential patterns for each user. The model also
adopts a hierarchical and periodical updating mechanism to capture multi-scale
sequential patterns of user interests while supporting the evolving user
behavior logs. The experimental results over three large-scale real-world
datasets have demonstrated the advantages of our proposed model with
significant improvement in user response prediction performance against the
state-of-the-arts.Comment: SIGIR 2019. Reproducible codes and datasets:
https://github.com/alimamarankgroup/HPM
Modeling Interdependent and Periodic Real-World Action Sequences
Mobile health applications, including those that track activities such as
exercise, sleep, and diet, are becoming widely used. Accurately predicting
human actions is essential for targeted recommendations that could improve our
health and for personalization of these applications. However, making such
predictions is extremely difficult due to the complexities of human behavior,
which consists of a large number of potential actions that vary over time,
depend on each other, and are periodic. Previous work has not jointly modeled
these dynamics and has largely focused on item consumption patterns instead of
broader types of behaviors such as eating, commuting or exercising. In this
work, we develop a novel statistical model for Time-varying, Interdependent,
and Periodic Action Sequences. Our approach is based on personalized,
multivariate temporal point processes that model time-varying action
propensities through a mixture of Gaussian intensities. Our model captures
short-term and long-term periodic interdependencies between actions through
Hawkes process-based self-excitations. We evaluate our approach on two activity
logging datasets comprising 12 million actions taken by 20 thousand users over
17 months. We demonstrate that our approach allows us to make successful
predictions of future user actions and their timing. Specifically, our model
improves predictions of actions, and their timing, over existing methods across
multiple datasets by up to 156%, and up to 37%, respectively. Performance
improvements are particularly large for relatively rare and periodic actions
such as walking and biking, improving over baselines by up to 256%. This
demonstrates that explicit modeling of dependencies and periodicities in
real-world behavior enables successful predictions of future actions, with
implications for modeling human behavior, app personalization, and targeting of
health interventions.Comment: Accepted at WWW 201
Deep Reinforcement Learning for Tensegrity Robot Locomotion
Tensegrity robots, composed of rigid rods connected by elastic cables, have a
number of unique properties that make them appealing for use as planetary
exploration rovers. However, control of tensegrity robots remains a difficult
problem due to their unusual structures and complex dynamics. In this work, we
show how locomotion gaits can be learned automatically using a novel extension
of mirror descent guided policy search (MDGPS) applied to periodic locomotion
movements, and we demonstrate the effectiveness of our approach on tensegrity
robot locomotion. We evaluate our method with real-world and simulated
experiments on the SUPERball tensegrity robot, showing that the learned
policies generalize to changes in system parameters, unreliable sensor
measurements, and variation in environmental conditions, including varied
terrains and a range of different gravities. Our experiments demonstrate that
our method not only learns fast, power-efficient feedback policies for rolling
gaits, but that these policies can succeed with only the limited onboard
sensing provided by SUPERball's accelerometers. We compare the learned feedback
policies to learned open-loop policies and hand-engineered controllers, and
demonstrate that the learned policy enables the first continuous, reliable
locomotion gait for the real SUPERball robot. Our code and other supplementary
materials are available from http://rll.berkeley.edu/drl_tensegrityComment: International Conference on Robotics and Automation (ICRA), 2017.
Project website link is http://rll.berkeley.edu/drl_tensegrit
Improving the energy efficiency of autonomous underwater vehicles by learning to model disturbances
Energy efficiency is one of the main challenges for long-term autonomy of AUVs (Autonomous Underwater Vehicles). We propose a novel approach for improving the energy efficiency of AUV controllers based on the ability to learn which external disturbances can safely be ignored. The proposed learning approach uses adaptive oscillators that are able to learn online the frequency, amplitude and phase of zero-mean periodic external disturbances. Such disturbances occur naturally in open water due to waves, currents, and gravity, but also can be caused by the dynamics and hydrodynamics of the AUV itself. We formulate the theoretical basis of the approach, and demonstrate its abilities on a number of input signals. Further experimental evaluation is conducted using a dynamic model of the Girona 500 AUV in simulation on two important underwater scenarios: hovering and trajectory tracking. The proposed approach shows significant energy-saving capabilities while at the same time maintaining high controller gains. The approach is generic and applicable not only for AUV control, but also for other type of control where periodic disturbances exist and could be accounted for by the controller. © 2013 IEEE
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