7,497 research outputs found
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
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
The NLMS algorithm with time-variant optimum stepsize derived from a Bayesian network perspective
In this article, we derive a new stepsize adaptation for the normalized least
mean square algorithm (NLMS) by describing the task of linear acoustic echo
cancellation from a Bayesian network perspective. Similar to the well-known
Kalman filter equations, we model the acoustic wave propagation from the
loudspeaker to the microphone by a latent state vector and define a linear
observation equation (to model the relation between the state vector and the
observation) as well as a linear process equation (to model the temporal
progress of the state vector). Based on additional assumptions on the
statistics of the random variables in observation and process equation, we
apply the expectation-maximization (EM) algorithm to derive an NLMS-like filter
adaptation. By exploiting the conditional independence rules for Bayesian
networks, we reveal that the resulting EM-NLMS algorithm has a stepsize update
equivalent to the optimal-stepsize calculation proposed by Yamamoto and
Kitayama in 1982, which has been adopted in many textbooks. As main difference,
the instantaneous stepsize value is estimated in the M step of the EM algorithm
(instead of being approximated by artificially extending the acoustic echo
path). The EM-NLMS algorithm is experimentally verified for synthesized
scenarios with both, white noise and male speech as input signal.Comment: 4 pages, 1 page of reference
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