Loading in 5 sec....

EE 690 Design of Embodied IntelligencePowerPoint Presentation

EE 690 Design of Embodied Intelligence

- By
**roana** - Follow User

- 111 Views
- Uploaded on

Download Presentation
## PowerPoint Slideshow about ' EE 690 Design of Embodied Intelligence' - roana

**An Image/Link below is provided (as is) to download presentation**

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.

- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -

Presentation Transcript

### Least-squares-based Multilayer perceptron training with weighted adaptation-- Software simulation project

EE 690

Design of Embodied Intelligence

Outline weighted adaptation

- Multilayer Perceptron
- Least-squares based Learning Algorithm
- Weighted Adaptation in training
- Signal-to-Noise Ratio Figure and Overfitting
- Software simulation project

Inputs weighted adaptationx

Outputs z

Multilayer perceptron (MLP)Feedforward (no recurrent connections) network with units arranged in layers

MLP weighted adaptation

Multilayer perceptron (MLP)- Efficient mapping from inputs to outputs
- Powerful universal function approximation
- Number of inputs and outputs determined by the data
- Number of hidden neurons
- Number of hidden layers

outputs

inputs

Back-propagation (BP) weighted adaptation training algorithm: how much each weight is responsible for the error signal

BP has two phases:

Forward pass phase: feedforward propagation of input signals through network

Backward pass phase: propagates the error backwards through network

output layer

input layer

hidden layer

Multilayer Perceptron LearningMultilayer Perceptron Learning weighted adaptation

- Backward Pass
We want to know how to modify weights in order to decrease E.

- Use gradient descent:

- Gradient-based adjustment could go to local minima
- Time-consuming due to large number of learning steps and the step size needs to be configured

Optimized weights weighted adaptation

Optimized signals

Least-squares based Learning Algorithm- Least-squared fit (LSF): to obtain the minimum sum of squared error
- For underdetermined problem, LSF finds the solution with the minimum SSE
- For overdetermined problem, pseudo-inverse finds the solution with minimum norm
- Can be applied in the optimization for weights or signals on the layers

b1 weighted adaptation

b2

W1

W2

d

x

z2

y2

y1

z1

Least-squares based Learning Algorithm (I)- Start with desired output signal back-propagation
- signals optimization
- Propagation of the desired outputs back through layers
- Optimization of the weights between layers

(1). y2=f -1(z2), scale y1 to (-1, 1).

(2). Based on W2,b2:W2.z1=y2-b2.

(3). y1=f-1(z1), scale y1 to (-1, 1).

(4). Optimize W1, b1 to satisfy W1.x-b1=y1.

(5). Evaluate z1, y1 using the new W1 and bias b1.

(6). Optimize W2, b2 to satisfy W2.z1+b2=y2.

(7). Evaluate z2, y2 using the new W2 and bias b2.

(8). Evaluate the MSE

Optimize weighted adaptationW1, b1 to satisfy W1.x=y1-b1

Least-squares based Learning Algorithm (I)- Weights optimization with weighted LSF
The location of x on the transfer function determines its effect on output signal of this layer

dy/dx weighting term in LSF

Δy

Δy

Δx

Δx

Weighted LSF

x weighted adaptation

Least-squares based Learning Algorithm (II)II. Weights optimization with iterative fitting

W1 can be further adjusted based on the output error

Each hidden neuron: basis function

Start with the 1st hidden neurons, and continue to other neurons

as long as eout exists

b1 weighted adaptation

b2

W1

W2

d

x

z2

y2

y1

z1

Least-squares based Learning Algorithm (III)- III. Start with input feedforward weights optimization
- Propagation of the inputs forward through layers
- Optimization of the weights between layers and signals on layers

(1). Evaluate z1, y1 using the initial W1 and bias b1.

(2). y2=f -1(d).

(3). Optimize W2, b2 to satisfy W2.z1+b2=y2.

(4). Based on W2,b2, optimize z1 to satisfy

W2.z1-b2=y2.

(5). y1=f-1(z1).

(6). Optimize W1, b1 to satisfy W1.x+b1=y1.

(7). Evaluate y1, z1, y2, z2 using the new W1,W2

and bias b1,b2.

(8). Evaluate the MSE

Least-squares based Learning Algorithm (III) weighted adaptation

y

- Signal optimization with weighted adaptation
The location of x on the transfer function determines how much the signal can be changed

x

Overfitting problem weighted adaptation

- Learning algorithm can adapt MLP to fit into the training data.
- For the noisy training data, how well we should learn into the data?
- Overfitting
- Number of hidden neurons
Number of layers

affect the training accuracy, determined by users: critical

- Optimized Approximation Algorithm –SNRF criterion

Signal-to-noise ratio figure (SNRF) weighted adaptation

- Sampled data: function value + noise
- Error signal:
approximation error component + noise component

Noise part

Should not be learned

Useful signal

Should be reduced

- Assumption: continuous function & WGN as noise
- Signal-to-noise ratio figure (SNRF):
signal energy/noise energy

- Compare SNRFe and SNRFWGN

Learning should stop – ?

If there is useful signal left unlearned

If noise dominates in the error signal

Error signal weighted adaptation

Training data and approximating function

Signal-to-noise ratio figure (SNRF)noise component

approximation error component

+

Optimization using SNRF weighted adaptation

- SNRFe< threshold SNRFWGN
- Start with small network (small # of neurons or layers)
- Train the MLP etrain
- Compare SNRFe & SNRFWGN
- Add hidden neurons

Noise dominates in the error signal,

Little information left unlearned,

Learning should stop

Stopping criterion:

SNRFe< threshold SNRFWGN

Optimization using SNRF weighted adaptation

- Set the structure of MLP
- Train the MLP with back-propagation iteration
etrain

- Compare SNRFe & SNRFWGN
- Keep training with more iterations

Applied in optimizing number of iterations in back-propagation training to avoid overfitting (overtraining)

M x N matrix: weighted adaptation“Features”

1 x N vector: “Values”

Software simulation project- Prepare the data
- Data sample along the row: N samples
- Features along the column: M features
- Desired output in a row vector: N values
- Save “features” and “values” in a training MAT file
- How to recall the function
- Run “main_MLP_LS.m”
- Specify MAT file path and name and MLP parameters in command window.

Software simulation project weighted adaptation

- Input the path where data file can be found (C:*): E:\Research\MLP_LSInitial_desired\MLP_LS_package\
- Input the name of data file (*.mat): mackey_glass_data.mat
- There are overall 732 samples. How do you like to divide them into training and testing set?
Number of training samples: 500

Number of testing samples: 232

- How many layers does MLP have? 3:2:7
- How many neurons there are on each hidden layer ? 3:1:10
- What kind of tranfer function you like to have on hidden neurons?
- 0. Linear tranfer function
- 1. Tangent sigmoid
- 2. Logrithmic sigmoid
- 2

b1 weighted adaptation

W1

b2

W2

d

x

z2

y2

y1

z1

Software simulation project- There are 4 types of training algorithms you can choose from. Which type you like to use?
- 1. Least-squared based training (I)
- 2. Least-squared based training with iterative neuron fitting (II)
- 3. Least-squared based training with weighted signal adaptation (III)
- 4. Back-propagation training (BP)
- 1
- How many iterations you would like to have in the training ? 3
- How many Monte-Carlo runs you would like to have for the training? 2

Software simulation project weighted adaptation

- Results:
J_train (num_layer, num_neuron)

J_test (num_layer, num_neuron)

SNRF (num_layer, num_neuron)

- Present training and testing errors for various configurations of the MLP
- Present the optimum configuration found by SNRF
- Present the comparison of the results, including errors, network structure

Software simulation project weighted adaptation

- Typical database and literature survey
- Function approximation & classification dataset
“IEEE Neural Networks Council Standards Committee Working Group on Data modeling Benchmarks”

http://neural.cs.nthu.edu.tw/jang/benchmark/#MG

“Neural Network Databases and Learning Data”

http://www.neoxi.com/NNR/Neural_Network_Databases.php

“UCI Machine Learning Repository”

http://www.ics.uci.edu/~mlearn/MLRepository.html

- Data are normalized
- Multiple input, with signal output.
- For multiple output data, use separate MLPs.
- Compare results from literature which uses the same dataset (*)

Download Presentation

Connecting to Server..