A Real-Time Unsupervised Neural Network for the Low-Level Control of a Mobile Robot in a Nonstationary Environment

This article introduces a real-time, unsupervised neural network that learns to control a two-degree-of-freedom mobile robot in a nonstationary environment. The neural controller, which is termed neural NETwork MObile Robot Controller (NETMORC), combines associative learning and Vector Associative Map (YAM) learning to generate transformations between spatial and velocity coordinates. As a result, the controller learns the wheel velocities required to reach a target at an arbitrary distance and angle. The transformations are learned during an unsupervised training phase, during which the robot moves as a result of randomly selected wheel velocities. The robot learns the relationship between these velocities and the resulting incremental movements. Aside form being able to reach stationary or moving targets, the NETMORC structure also enables the robot to perform successfully in spite of disturbances in the enviroment, such as wheel slippage, or changes in the robot's plant, including changes in wheel radius, changes in inter-wheel distance, or changes in the internal time step of the system. Finally, the controller is extended to include a module that learns an internal odometric transformation, allowing the robot to reach targets when visual input is sporadic or unreliable.Sloan Fellowship (BR-3122), Air Force Office of Scientific Research (F49620-92-J-0499

Unsupervised Learning for Understanding Student Achievement in a Distance Learning Setting

Many factors could affect the achievement of students in distance learning settings. Internal factors such as age, gender, previous education level and engagement in online learning activities can play an important role in obtaining successful learning outcomes, as well as external factors such as regions where they come from and the learning environment that they can access. Identifying the relationships between student characteristics and distance learning outcomes is a central issue in learning analytics. This paper presents a study that applies unsupervised learning for identifying how demographic characteristics of students and their engagement in online learning activities can affect their learning achievement. We utilise the K-Prototypes clustering method to identify groups of students based on demographic characteristics and interactions with online learning environments, and also investigate the learning achievement of each group. Knowing these groups of students who have successful or poor learning outcomes can aid faculty for designing online courses that adapt to different students' needs. It can also assist students in selecting online courses that are appropriate to them

Predictive-State Decoders: Encoding the Future into Recurrent Networks

Recurrent neural networks (RNNs) are a vital modeling technique that rely on internal states learned indirectly by optimization of a supervised, unsupervised, or reinforcement training loss. RNNs are used to model dynamic processes that are characterized by underlying latent states whose form is often unknown, precluding its analytic representation inside an RNN. In the Predictive-State Representation (PSR) literature, latent state processes are modeled by an internal state representation that directly models the distribution of future observations, and most recent work in this area has relied on explicitly representing and targeting sufficient statistics of this probability distribution. We seek to combine the advantages of RNNs and PSRs by augmenting existing state-of-the-art recurrent neural networks with Predictive-State Decoders (PSDs), which add supervision to the network's internal state representation to target predicting future observations. Predictive-State Decoders are simple to implement and easily incorporated into existing training pipelines via additional loss regularization. We demonstrate the effectiveness of PSDs with experimental results in three different domains: probabilistic filtering, Imitation Learning, and Reinforcement Learning. In each, our method improves statistical performance of state-of-the-art recurrent baselines and does so with fewer iterations and less data.Comment: NIPS 201

Deep learning systems as complex networks

Thanks to the availability of large scale digital datasets and massive amounts of computational power, deep learning algorithms can learn representations of data by exploiting multiple levels of abstraction. These machine learning methods have greatly improved the state-of-the-art in many challenging cognitive tasks, such as visual object recognition, speech processing, natural language understanding and automatic translation. In particular, one class of deep learning models, known as deep belief networks, can discover intricate statistical structure in large data sets in a completely unsupervised fashion, by learning a generative model of the data using Hebbian-like learning mechanisms. Although these self-organizing systems can be conveniently formalized within the framework of statistical mechanics, their internal functioning remains opaque, because their emergent dynamics cannot be solved analytically. In this article we propose to study deep belief networks using techniques commonly employed in the study of complex networks, in order to gain some insights into the structural and functional properties of the computational graph resulting from the learning process.Comment: 20 pages, 9 figure

"Zero-Shot" Super-Resolution using Deep Internal Learning

Deep Learning has led to a dramatic leap in Super-Resolution (SR) performance in the past few years. However, being supervised, these SR methods are restricted to specific training data, where the acquisition of the low-resolution (LR) images from their high-resolution (HR) counterparts is predetermined (e.g., bicubic downscaling), without any distracting artifacts (e.g., sensor noise, image compression, non-ideal PSF, etc). Real LR images, however, rarely obey these restrictions, resulting in poor SR results by SotA (State of the Art) methods. In this paper we introduce "Zero-Shot" SR, which exploits the power of Deep Learning, but does not rely on prior training. We exploit the internal recurrence of information inside a single image, and train a small image-specific CNN at test time, on examples extracted solely from the input image itself. As such, it can adapt itself to different settings per image. This allows to perform SR of real old photos, noisy images, biological data, and other images where the acquisition process is unknown or non-ideal. On such images, our method outperforms SotA CNN-based SR methods, as well as previous unsupervised SR methods. To the best of our knowledge, this is the first unsupervised CNN-based SR method

Synaptic state matching: a dynamical architecture for predictive internal representation and feature perception

Here we consider the possibility that a fundamental function of sensory cortex is the generation of an internal simulation of sensory environment in real-time. A logical elaboration of this idea leads to a dynamical neural architecture that oscillates between two fundamental network states, one driven by external input, and the other by recurrent synaptic drive in the absence of sensory input. Synaptic strength is modified by a proposed synaptic state matching (SSM) process that ensures equivalence of spike statistics between the two network states. Remarkably, SSM, operating locally at individual synapses, generates accurate and stable network-level predictive internal representations, enabling pattern completion and unsupervised feature detection from noisy sensory input. SSM is a biologically plausible substrate for learning and memory because it brings together sequence learning, feature detection, synaptic homeostasis, and network oscillations under a single parsimonious computational framework. Beyond its utility as a potential model of cortical computation, artificial networks based on this principle have remarkable capacity for internalizing dynamical systems, making them useful in a variety of application domains including time-series prediction and machine intelligence