One step back, two steps forward: interference and learning in recurrent neural networks

Artificial neural networks, trained to perform cognitive tasks, have recently been used as models for neural recordings from animals performing these tasks. While some progress has been made in performing such comparisons, the evolution of network dynamics throughout learning remains unexplored. This is paralleled by an experimental focus on recording from trained animals, with few studies following neural activity throughout training. In this work, we address this gap in the realm of artificial networks by analyzing networks that are trained to perform memory and pattern generation tasks. The functional aspect of these tasks corresponds to dynamical objects in the fully trained network - a line attractor or a set of limit cycles for the two respective tasks. We use these dynamical objects as anchors to study the effect of learning on their emergence. We find that the sequential nature of learning has major consequences for the learning trajectory and its final outcome. Specifically, we show that Least Mean Squares (LMS), a simple gradient descent suggested as a biologically plausible version of the FORCE algorithm, is constantly obstructed by forgetting, which is manifested as the destruction of dynamical objects from previous trials. The degree of interference is determined by the correlation between different trials. We show which specific ingredients of FORCE avoid this phenomenon. Overall, this difference results in convergence that is orders of magnitude slower for LMS. Learning implies accumulating information across multiple trials to form the overall concept of the task. Our results show that interference between trials can greatly affect learning, in a learning rule dependent manner. These insights can help design experimental protocols that minimize such interference, and possibly infer underlying learning rules by observing behavior and neural activity throughout learning

Dynamical learning of dynamics

The ability of humans and animals to quickly adapt to novel tasks is difficult to reconcile with the standard paradigm of learning by slow synaptic weight modification. Here we show that fixed-weight neural networks can learn to generate required dynamics by imitation. After appropriate weight pretraining, the networks quickly and dynamically adapt to learn new tasks and thereafter continue to achieve them without further teacher feedback. We explain this ability and illustrate it with a variety of target dynamics, ranging from oscillatory trajectories to driven and chaotic dynamical systems

Imitation Learning with Recurrent Neural Networks

We present a novel view that unifies two frameworks that aim to solve sequential prediction problems: learning to search (L2S) and recurrent neural networks (RNN). We point out equivalences between elements of the two frameworks. By complementing what is missing from one framework comparing to the other, we introduce a more advanced imitation learning framework that, on one hand, augments L2S s notion of search space and, on the other hand, enhances RNNs training procedure to be more robust to compounding errors arising from training on highly correlated examples.Comment: 5 page

Unsupervised Intuitive Physics from Past Experiences

We are interested in learning models of intuitive physics similar to the ones that animals use for navigation, manipulation and planning. In addition to learning general physical principles, however, we are also interested in learning ``on the fly'', from a few experiences, physical properties specific to new environments. We do all this in an unsupervised manner, using a meta-learning formulation where the goal is to predict videos containing demonstrations of physical phenomena, such as objects moving and colliding with a complex background. We introduce the idea of summarizing past experiences in a very compact manner, in our case using dynamic images, and show that this can be used to solve the problem well and efficiently. Empirically, we show via extensive experiments and ablation studies, that our model learns to perform physical predictions that generalize well in time and space, as well as to a variable number of interacting physical objects.Comment: Under revie

Evolving Indoor Navigational Strategies Using Gated Recurrent Units In NEAT

Simultaneous Localisation and Mapping (SLAM) algorithms are expensive to run on smaller robotic platforms such as Micro-Aerial Vehicles. Bug algorithms are an alternative that use relatively little processing power, and avoid high memory consumption by not building an explicit map of the environment. Bug Algorithms achieve relatively good performance in simulated and robotic maze solving domains. However, because they are hand-designed, a natural question is whether they are globally optimal control policies. In this work we explore the performance of Neuroevolution - specifically NEAT - at evolving control policies for simulated differential drive robots carrying out generalised maze navigation. We extend NEAT to include Gated Recurrent Units (GRUs) to help deal with long term dependencies. We show that both NEAT and our NEAT-GRU can repeatably generate controllers that outperform I-Bug (an algorithm particularly well-suited for use in real robots) on a test set of 209 indoor maze like environments. We show that NEAT-GRU is superior to NEAT in this task but also that out of the 2 systems, only NEAT-GRU can continuously evolve successful controllers for a much harder task in which no bearing information about the target is provided to the agent

Taking Visual Motion Prediction To New Heightfields

While the basic laws of Newtonian mechanics are well understood, explaining a physical scenario still requires manually modeling the problem with suitable equations and estimating the associated parameters. In order to be able to leverage the approximation capabilities of artificial intelligence techniques in such physics related contexts, researchers have handcrafted the relevant states, and then used neural networks to learn the state transitions using simulation runs as training data. Unfortunately, such approaches are unsuited for modeling complex real-world scenarios, where manually authoring relevant state spaces tend to be tedious and challenging. In this work, we investigate if neural networks can implicitly learn physical states of real-world mechanical processes only based on visual data while internally modeling non-homogeneous environment and in the process enable long-term physical extrapolation. We develop a recurrent neural network architecture for this task and also characterize resultant uncertainties in the form of evolving variance estimates. We evaluate our setup to extrapolate motion of rolling ball(s) on bowls of varying shape and orientation, and on arbitrary heightfields using only images as input. We report significant improvements over existing image-based methods both in terms of accuracy of predictions and complexity of scenarios; and report competitive performance with approaches that, unlike us, assume access to internal physical states.Comment: arXiv admin note: text overlap with arXiv:1706.0217

OptiGAN: Generative Adversarial Networks for Goal Optimized Sequence Generation

One of the challenging problems in sequence generation tasks is the optimized generation of sequences with specific desired goals. Current sequential generative models mainly generate sequences to closely mimic the training data, without direct optimization of desired goals or properties specific to the task. We introduce OptiGAN, a generative model that incorporates both Generative Adversarial Networks (GAN) and Reinforcement Learning (RL) to optimize desired goal scores using policy gradients. We apply our model to text and real-valued sequence generation, where our model is able to achieve higher desired scores out-performing GAN and RL baselines, while not sacrificing output sample diversity.Comment: Preprint for accepted conference paper at International Joint Conference on Neural Networks (IJCNN) 202

Learning to Represent Mechanics via Long-term Extrapolation and Interpolation

While the basic laws of Newtonian mechanics are well understood, explaining a physical scenario still requires manually modeling the problem with suitable equations and associated parameters. In order to adopt such models for artificial intelligence, researchers have handcrafted the relevant states, and then used neural networks to learn the state transitions using simulation runs as training data. Unfortunately, such approaches can be unsuitable for modeling complex real-world scenarios, where manually authoring relevant state spaces tend to be challenging. In this work, we investigate if neural networks can implicitly learn physical states of real-world mechanical processes only based on visual data, and thus enable long-term physical extrapolation. We develop a recurrent neural network architecture for this task and also characterize resultant uncertainties in the form of evolving variance estimates. We evaluate our setup to extrapolate motion of a rolling ball on bowl of varying shape and orientation using only images as input, and report competitive results with approaches that assume access to internal physics models and parameters.Comment: arXiv admin note: text overlap with arXiv:1703.0024

A Bag-of-Words Equivalent Recurrent Neural Network for Action Recognition

The traditional bag-of-words approach has found a wide range of applications in computer vision. The standard pipeline consists of a generation of a visual vocabulary, a quantization of the features into histograms of visual words, and a classification step for which usually a support vector machine in combination with a non-linear kernel is used. Given large amounts of data, however, the model suffers from a lack of discriminative power. This applies particularly for action recognition, where the vast amount of video features needs to be subsampled for unsupervised visual vocabulary generation. Moreover, the kernel computation can be very expensive on large datasets. In this work, we propose a recurrent neural network that is equivalent to the traditional bag-of-words approach but enables for the application of discriminative training. The model further allows to incorporate the kernel computation into the neural network directly, solving the complexity issue and allowing to represent the complete classification system within a single network. We evaluate our method on four recent action recognition benchmarks and show that the conventional model as well as sparse coding methods are outperformed

Improving performance of recurrent neural network with relu nonlinearity

In recent years significant progress has been made in successfully training recurrent neural networks (RNNs) on sequence learning problems involving long range temporal dependencies. The progress has been made on three fronts: (a) Algorithmic improvements involving sophisticated optimization techniques, (b) network design involving complex hidden layer nodes and specialized recurrent layer connections and (c) weight initialization methods. In this paper, we focus on recently proposed weight initialization with identity matrix for the recurrent weights in a RNN. This initialization is specifically proposed for hidden nodes with Rectified Linear Unit (ReLU) non linearity. We offer a simple dynamical systems perspective on weight initialization process, which allows us to propose a modified weight initialization strategy. We show that this initialization technique leads to successfully training RNNs composed of ReLUs. We demonstrate that our proposal produces comparable or better solution for three toy problems involving long range temporal structure: the addition problem, the multiplication problem and the MNIST classification problem using sequence of pixels. In addition, we present results for a benchmark action recognition problem.Comment: 10 pages 6 figures; under consideration for publication with ICLR 201