Abstract
The purpose of the research addressed in this paper is to study the influence of the time window width in dynamic truncated BackPropagation Through Time BPTT(h) learning algorithms. Statistical experiments based on the identification of a real biped robot balancing mechanism are carried out to raise the link between the window width and the stability, the speed and the accuracy of the learning. The time window width choice is shown to be crucial for the convergence speed of the learning process and the generalization ability of the network. Although, a particular attention is brought to a divergence problem (gradient blow up) observed with the assumption where the net parameters are constant along the window. The limit of this assumption is demonstrated and parameters evolution storage, used as a solution for this problem, is detailed.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Mohamed, B., Gravez, F., Ouezdou, F.B.: Emulation of the dynamic effects of human torso during walking gait. Journal of Mechanical Design 126, 830–841 (2004)
Tsung, F.-S.: Modeling Dynamical Systems with Recurrent Neural Networks. PhD thesis, Department of Computer Science. University of California, San Diego (1994)
Nguyen, M.H., Cottrell, G.W.: Tau Net: A neural network for modeling temporal variability. Neurocomputing 15, 249–271 (1997)
Hochreiter, S., Younger, A.S., Conwell, P.R.: Learning to learn using gradient descent. In: Dorffner, G., Bischof, H., Hornik, K. (eds.) ICANN 2001. LNCS, vol. 2130, pp. 87–94. Springer, Heidelberg (2001)
Pearlmutter, B.A.: Gradient calculation for dynamic recurrent neural networks: a survey. Transactions on Neural Networks 6(5), 1212–1228 (1995)
Werbos, P.J.: Backpropagation through time: what it does and how to do it. Proceedings of the IEEE 78(10), 1550–1560 (1990)
Rumelhart, D.E., Hinton, G.E., Williams, R.J.: Learning internal representations by error propagation Parallel distributed processing: explorations in the microstructure of cognition. In: Rumelhart, D.E., Mc- Clelland, J.L., the PDP Research Group (eds.), pp. 318–362. MIT Press, Cambridge (1986)
Williams, R.J., Zipser, D.: Gradient-based learning algorithms for recurrent connectionist networks. In: Chauvin, Y., Rumelhart, D.E. (eds.) Backpropagation: Theory, Architectures, and Applications, Erlbaum, Hillsdale, NJ (1990)
Williams, R.J., Peng, J.: An efficient gradient–based algorithm for on–line training of recurrent network trajectories. Neural Computation, vol. 2, pp. 490–501. MIT Press, Cambridge (1990)
Campolucci, P., Uncini, A., Piazza, F., Rao, B.D.: On-Line Learning Algorithms for Locally Recurrent Neural Networks. IEEE-NN 10, 253 (1999)
Vukobratovic, M., Borovac, B.: Zero-moment point – thirty five years of its life. International Journal of Humanoid Robotics 1(1), 157–173 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Scesa, V., Henaff, P., Ouezdou, F.B., Namoun, F. (2006). Time Window Width Influence on Dynamic BPTT(h) Learning Algorithm Performances: Experimental Study. In: Kollias, S.D., Stafylopatis, A., Duch, W., Oja, E. (eds) Artificial Neural Networks – ICANN 2006. ICANN 2006. Lecture Notes in Computer Science, vol 4131. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11840817_10
Download citation
DOI: https://doi.org/10.1007/11840817_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-38625-4
Online ISBN: 978-3-540-38627-8
eBook Packages: Computer ScienceComputer Science (R0)