Spatio-temporal learning with the online finite and infinite echo-state Gaussian processes

Successful biological systems adapt to change. In this paper, we are principally concerned with adaptive systems that operate in environments where data arrives sequentially and is multivariate in nature, for example, sensory streams in robotic systems. We contribute two reservoir inspired methods: 1) the online echostate Gaussian process (OESGP) and 2) its infinite variant, the online infinite echostate Gaussian process (OIESGP) Both algorithms are iterative fixed-budget methods that learn from noisy time series. In particular, the OESGP combines the echo-state network with Bayesian online learning for Gaussian processes. Extending this to infinite reservoirs yields the OIESGP, which uses a novel recursive kernel with automatic relevance determination that enables spatial and temporal feature weighting. When fused with stochastic natural gradient descent, the kernel hyperparameters are iteratively adapted to better model the target system. Furthermore, insights into the underlying system can be gleamed from inspection of the resulting hyperparameters. Experiments on noisy benchmark problems (one-step prediction and system identification) demonstrate that our methods yield high accuracies relative to state-of-the-art methods, and standard kernels with sliding windows, particularly on problems with irrelevant dimensions. In addition, we describe two case studies in robotic learning-by-demonstration involving the Nao humanoid robot and the Assistive Robot Transport for Youngsters (ARTY) smart wheelchair

Training Echo State Networks with Regularization through Dimensionality Reduction

In this paper we introduce a new framework to train an Echo State Network to predict real valued time-series. The method consists in projecting the output of the internal layer of the network on a space with lower dimensionality, before training the output layer to learn the target task. Notably, we enforce a regularization constraint that leads to better generalization capabilities. We evaluate the performances of our approach on several benchmark tests, using different techniques to train the readout of the network, achieving superior predictive performance when using the proposed framework. Finally, we provide an insight on the effectiveness of the implemented mechanics through a visualization of the trajectory in the phase space and relying on the methodologies of nonlinear time-series analysis. By applying our method on well known chaotic systems, we provide evidence that the lower dimensional embedding retains the dynamical properties of the underlying system better than the full-dimensional internal states of the network

Reservoir Computing Approach to Robust Computation using Unreliable Nanoscale Networks

As we approach the physical limits of CMOS technology, advances in materials science and nanotechnology are making available a variety of unconventional computing substrates that can potentially replace top-down-designed silicon-based computing devices. Inherent stochasticity in the fabrication process and nanometer scale of these substrates inevitably lead to design variations, defects, faults, and noise in the resulting devices. A key challenge is how to harness such devices to perform robust computation. We propose reservoir computing as a solution. In reservoir computing, computation takes place by translating the dynamics of an excited medium, called a reservoir, into a desired output. This approach eliminates the need for external control and redundancy, and the programming is done using a closed-form regression problem on the output, which also allows concurrent programming using a single device. Using a theoretical model, we show that both regular and irregular reservoirs are intrinsically robust to structural noise as they perform computation

Machine Learning for Fluid Mechanics

The field of fluid mechanics is rapidly advancing, driven by unprecedented volumes of data from field measurements, experiments and large-scale simulations at multiple spatiotemporal scales. Machine learning offers a wealth of techniques to extract information from data that could be translated into knowledge about the underlying fluid mechanics. Moreover, machine learning algorithms can augment domain knowledge and automate tasks related to flow control and optimization. This article presents an overview of past history, current developments, and emerging opportunities of machine learning for fluid mechanics. It outlines fundamental machine learning methodologies and discusses their uses for understanding, modeling, optimizing, and controlling fluid flows. The strengths and limitations of these methods are addressed from the perspective of scientific inquiry that considers data as an inherent part of modeling, experimentation, and simulation. Machine learning provides a powerful information processing framework that can enrich, and possibly even transform, current lines of fluid mechanics research and industrial applications.Comment: To appear in the Annual Reviews of Fluid Mechanics, 202

Stochastic Analysis of the LMS Algorithm for System Identification with Subspace Inputs

This paper studies the behavior of the low rank LMS adaptive algorithm for the general case in which the input transformation may not capture the exact input subspace. It is shown that the Independence Theory and the independent additive noise model are not applicable to this case. A new theoretical model for the weight mean and fluctuation behaviors is developed which incorporates the correlation between successive data vectors (as opposed to the Independence Theory model). The new theory is applied to a network echo cancellation scheme which uses partial-Haar input vector transformations. Comparison of the new model predictions with Monte Carlo simulations shows good-to-excellent agreement, certainly much better than predicted by the Independence Theory based model available in the literature

Self-Learning Hot Data Prediction: Where Echo State Network Meets NAND Flash Memories

© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Well understanding the access behavior of hot data is significant for NAND flash memory due to its crucial impact on the efficiency of garbage collection (GC) and wear leveling (WL), which respectively dominate the performance and life span of SSD. Generally, both GC and WL rely greatly on the recognition accuracy of hot data identification (HDI). However, in this paper, the first time we propose a novel concept of hot data prediction (HDP), where the conventional HDI becomes unnecessary. First, we develop a hybrid optimized echo state network (HOESN), where sufficiently unbiased and continuously shrunk output weights are learnt by a sparse regression based on L2 and L1/2 regularization. Second, quantum-behaved particle swarm optimization (QPSO) is employed to compute reservoir parameters (i.e., global scaling factor, reservoir size, scaling coefficient and sparsity degree) for further improving prediction accuracy and reliability. Third, in the test on a chaotic benchmark (Rossler), the HOESN performs better than those of six recent state-of-the-art methods. Finally, simulation results about six typical metrics tested on five real disk workloads and on-chip experiment outcomes verified from an actual SSD prototype indicate that our HOESN-based HDP can reliably promote the access performance and endurance of NAND flash memories.Peer reviewe

Sparse Distributed Learning Based on Diffusion Adaptation

This article proposes diffusion LMS strategies for distributed estimation over adaptive networks that are able to exploit sparsity in the underlying system model. The approach relies on convex regularization, common in compressive sensing, to enhance the detection of sparsity via a diffusive process over the network. The resulting algorithms endow networks with learning abilities and allow them to learn the sparse structure from the incoming data in real-time, and also to track variations in the sparsity of the model. We provide convergence and mean-square performance analysis of the proposed method and show under what conditions it outperforms the unregularized diffusion version. We also show how to adaptively select the regularization parameter. Simulation results illustrate the advantage of the proposed filters for sparse data recovery.Comment: to appear in IEEE Trans. on Signal Processing, 201

Cluster-based Input Weight Initialization for Echo State Networks

Echo State Networks (ESNs) are a special type of recurrent neural networks (RNNs), in which the input and recurrent connections are traditionally generated randomly, and only the output weights are trained. Despite the recent success of ESNs in various tasks of audio, image and radar recognition, we postulate that a purely random initialization is not the ideal way of initializing ESNs. The aim of this work is to propose an unsupervised initialization of the input connections using the K-Means algorithm on the training data. We show that this initialization performs equivalently or superior than a randomly initialized ESN whilst needing significantly less reservoir neurons (2000 vs. 4000 for spoken digit recognition, and 300 vs. 8000 neurons for f0 extraction) and thus reducing the amount of training time. Furthermore, we discuss that this approach provides the opportunity to estimate the suitable size of the reservoir based on the prior knowledge about the data.Comment: Submitted to IEEE Transactions on Neural Network and Learning System (TNNLS), 202