A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It also needs to deal with the internal parametric variations of vehicle sub-syste…
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48 results for “feed-forward controller”
We investigate the capacity, convexity and characterization of a general family of norm-constrained feed-forward networks.
Distributional Associations vs In-Context Reasoning: A Study of Feed-forward and Attention Layerscs.LG
The study compares feed-forward and attention layers in language models.
problem Understanding the role of feed-forward and attention layers in language models.
method Empirical and theoretical analysis in a synthetic setting.
result Feed-forward layers learn simple distributional associations, while attention layers focus on in-context reasoning.
We introduce Dynamic Deep Neural Networks (D2NN), a new type of feed-forward deep neural network that allows selective execution. Given an input, only a subset of D2NN neurons are executed, and the particular subset is determined by the D2NN itself. By pruning unnecessary computation depending on input, D2NNs provide a…
We present experiments demonstrating that some other form of capacity control, different from network size, plays a central role in learning multilayer feed-forward networks. We argue, partially through analogy to matrix factorization, that this is an inductive bias that can help shed light on deep learning.
New method discovers discrepancies between simplified models and experimental data.
problem Model discrepancies in nonlinear systems lead to significant deviations from true behavior.
method Sparse Identification of Nonlinear Dynamics (SINDy) algorithm to discover sparse model terms.
result Improvement in performance with a discrepancy model in simulations.
This work explains the structural origins of attention sinks in LLMs.
problem Initial tokens disproportionately monopolize attention scores in LLMs.
method Traced to self-attention's value aggregation process and FFN layer activations.
result Attention sinks form due to variance discrepancy and dimension disparity.
Perfect tracking control for real-world Euler-Lagrange systems is challenging due to uncertainties in the system model and external disturbances. The magnitude of the tracking error can be reduced either by increasing the feedback gains or improving the model of the system. The latter is clearly preferable as it allows…
Gradient control plays an important role in feed-forward networks applied to various computer vision tasks. Previous work has shown that Recurrent Highway Networks minimize the problem of vanishing or exploding gradients. They achieve this by setting the eigenvalues of the temporal Jacobian to 1 across the time steps. …
Neural nets trained with linear discriminant initialization converge faster and more accurately.
problem Training feed-forward neural networks efficiently and accurately.
method Initialize first layer weights with linear discriminants.
result Asymptotic higher accuracy and faster convergence.
This work optimizes reservoir computing models by linking recurrence and non-linear dynamics.
problem Understanding how recurrence and non-linear dynamics in cortical networks contribute to their function.
method Transformed time-continuous, recurrent dynamics into an effective feed-forward structure of linear and non-linear temporal kernels.
result Optimal time-series classifiers can be built from random reservoir networks, demonstrating significant performance gains.
We investigate robustness of deep feed-forward neural networks when input data are subject to random uncertainties. More specifically, we consider regularization of the network by its Lipschitz constant and emphasize its role. We highlight the fact that this regularization is not only a way to control the magnitude of …
A Neural-Network-Based Model Predictive Control of Three-Phase Inverter With an Output LC Filtereess.SY
Model predictive control (MPC) has become one of the well-established modern control methods for three-phase inverters with an output LC filter, where a high-quality voltage with low total harmonic distortion (THD) is needed. Although it is an intuitive controller, easy to understand and implement, it has the significa…
ForecastNet uses a time-variant deep feed-forward neural network for better multi-step-ahead time series forecasting.
problem Time-invariant architectures limit multi-step-ahead forecasting.
method ForecastNet employs a deep feed-forward architecture with time-variant parameters and interleaved outputs.
result ForecastNet outperforms other models on multi-step-ahead time series forecasting tasks.
New method adapts without backprop, faster and better.
problem Efficient domain adaptation without source data.
method Computing class prototypes from pre-trained model.
result Significant accuracy improvements over pre-trained model.
Transformer networks have lead to important progress in language modeling and machine translation. These models include two consecutive modules, a feed-forward layer and a self-attention layer. The latter allows the network to capture long term dependencies and are often regarded as the key ingredient in the success of…
Paper characterizes and constructs universal approximators for neural networks.
problem Limited understanding of universal approximation in neural networks.
method Characterization, representation, construction method, existence result for any universal approximator.
result Improved capabilities of feed-forward architecture to approximate continuous functions.
We introduce dropout compaction, a novel method for training feed-forward neural networks which realizes the performance gains of training a large model with dropout regularization, yet extracts a compact neural network for run-time efficiency. In the proposed method, we introduce a sparsity-inducing prior on the per u…
Efficient neural network optimization reduces costs and improves model performance.
problem High computational costs in optimizing neural networks, especially at scale.
method Introduces self-attentive feed-forward neural units (SAFFU) for efficient optimization.
result Explicit solutions outperform models optimized by backpropagation alone, and further training with backpropagation leads to better optima from smaller data sets.
Edge devices adapt pre-trained models to local data without backpropagation.
problem Adapting pre-trained models to edge devices' local data distributions.
method Feed-forward latent domain adaptation using cross-attention.
result Consistent improvements over ERM baselines and domain-supervised adaptation.
Paper uses neural networks to analyze oil price impact on Iranian stock and industry indices.
problem Impact of oil price volatility on Tehran stock and industry indices.
method Feed-forward neural networks analysis of two periods: sanctions and post-sanctions.
result Neural networks predict stock and industry indices well, showing significant oil price volatility impact.
Basic binary relations such as equality and inequality are fundamental to relational data structures. Neural networks should learn such relations and generalise to new unseen data. We show in this study, however, that this generalisation fails with standard feed-forward networks on binary vectors. Even when trained wit…
New sample complexity bounds for linear predictors and neural networks, focusing on initialization.
problem Understanding sample complexity for vector-valued linear predictors and neural networks, especially under initialization-dependent conditions.
method Size-independent bounds on Frobenius norm distance from a fixed reference matrix, applying to vector-valued predictors and neural networks.
result Established new sample complexity bounds for feed-forward neural networks, resolving open questions and introducing a new learnable problem.
In this effort, we propose a new deep architecture utilizing residual blocks inspired by implicit discretization schemes. As opposed to the standard feed-forward networks, the outputs of the proposed implicit residual blocks are defined as the fixed points of the appropriately chosen nonlinear transformations. We show …
Adapting robust statistics to neural networks, researchers found neural networks can be more robust with certain loss functions.
problem The robustness of neural networks in complex learning tasks.
method Adapting the regression breakdown point from robust statistics to neural networks and comparing different configurations and contamination settings.
result Neural networks can benefit from robust loss functions, as demonstrated in extensive simulations.
We propose a feed-forward inference method applicable to belief and neural networks. In a belief network, the method estimates an approximate factorized posterior of all hidden units given the input. In neural networks the method propagates uncertainty of the input through all the layers. In neural networks with inject…
Paper presents a deep learning framework for faster, more accurate nuclear reactor power prediction.
problem Inaccurate and inefficient modeling of nuclear reactor transients.
method Hybrid digital twin-focused multi-stage deep learning framework using feed-forward neural networks.
result Achieved remarkable accuracy (96% classification, 2.3% MAPE) with noise-enhanced simulated data.
Band-limited training reduces resource usage without sacrificing accuracy.
problem Resource constraints in training Convolutional Neural Networks (CNNs).
method Artificially constraining the frequency spectra of convolutional filters during training.
result CNNs can leverage lower-frequency components effectively, reducing resource usage.
When a feed-forward neural network (FNN) is trained for source ranging in an ocean waveguide, it is difficult evaluating the range accuracy of the FNN on unlabeled test data. A fitting-based early stopping (FEAST) method is introduced to evaluate the range error of the FNN on test data where the distance of source is u…
New study shows neural networks need many samples for training.
problem How much data is needed to train a ReLU feed-forward neural network?
method Theoretical and empirical analysis of ReLU feed-forward neural networks.
result Generalization error scales at in sample size .
New insights into how encoder-decoder networks generate attention matrices.
problem Understanding how encoder-decoder networks use attention matrices.
method Decomposing hidden states into temporal and input-driven components.
result Attention matrices are formed based on task requirements, not architecture type.
Deep network learns Obstacle Tower challenge without human demonstrations.
problem Master procedurally generated levels that get progressively harder.
method Deep Reinforcement Learning with a simple feed-forward network.
result Performed competitively in a reinforcement learning competition.
New duality found linking neural network weights and activities for better generalization.
problem Understanding and improving neural network generalization.
method Activity-weight duality mapping between neural network layers.
result Generalization loss can be decomposed into geometric factors of sharpness and weight standard deviation.
General lower bounds on neural network approximation in L^p norm.
problem Fundamental limits of neural network expressivity.
method General lower bound proof on approximation in L^p norm, applied to feed-forward neural networks.
result Neural networks can't approximate certain functions as well as previously thought.
Training deep recurrent neural network (RNN) architectures is complicated due to the increased network complexity. This disrupts the learning of higher order abstracts using deep RNN. In case of feed-forward networks training deep structures is simple and faster while learning long-term temporal information is not poss…
Stability is a fundamental property of dynamical systems, yet to this date it has had little bearing on the practice of recurrent neural networks. In this work, we conduct a thorough investigation of stable recurrent models. Theoretically, we prove stable recurrent neural networks are well approximated by feed-forward …
Proposes a new CG interpretation of neural networks for better theoretical analysis.
problem Lack of theoretical analysis in neural networks interpretation.
method Interprets neural networks as chain graphs and feed-forward as approximate inference.
result Provides novel theoretical support and insights for various neural network techniques.
DeepPhaseCut uses neural networks to improve Fourier phase retrieval.
problem Fourier phase retrieval from magnitude data.
method Unsupervised feed-forward neural network with cycleGAN training.
result Outperforms existing methods in Fourier phase retrieval.
Transformers mimic Bayesian reasoning in controlled settings, revealing geometric mechanisms.
problem Verifying if transformers perform Bayesian reasoning rigorously in natural data.
method Constructing Bayesian wind tunnels with known posteriors and proving memorization impossibility.
result Transformers achieve - bit accuracy in Bayesian posteriors, while MLPs fail.
Improved bounds on neural network regions using activation histograms.
problem Bounding the number of affine regions in ReLU networks.
method Analysis of algebraic topology problem, extension of framework to subnetwork composition.
result Slightly tighter bounds and insights into parameter initialization.
It has been argued in the past that high-dimensional neural networks do not exhibit local minima capable of trapping an optimisation algorithm. However, the relationship between loss surface modality and the neural architecture parameters, such as the number of hidden neurons per layer and the number of hidden layers, …
We design a self size-estimating feed-forward network (SSFN) using a joint optimization approach for estimation of number of layers, number of nodes and learning of weight matrices. The learning algorithm has a low computational complexity, preferably within few minutes using a laptop. In addition the algorithm has a l…
Two of the most popular modelling paradigms in computer vision are feed-forward neural networks (FFNs) and probabilistic graphical models (GMs). Various connections between the two have been studied in recent works, such as e.g. expressing mean-field based inference in a GM as an FFN. This paper establishes a new conne…
The paper develops a neural network-based method for detecting change points in large-scale time-evolving data.
problem Detecting and locating change points in multivariate time-evolving data.
method Two-step procedure involving neural network training and test error function calibration over moving windows.
result Consistent estimates for the number and locations of change points under temporal dependence.
ReF-ER algorithm improved performance in multi-agent reinforcement learning.
problem Improving performance in multi-agent reinforcement learning environments.
method Extended ReF-ER algorithm to include dependencies between agents and modeled environment dynamics.
result ReF-ER MARL outperforms state-of-the-art algorithms in collaborative environments.
Free Probability for predicting the performance of feed-forward fully connected neural networksstat.ML
New method predicts neural network performance using free probability theory.
problem Stability and performance prediction of feed-forward neural networks.
method Free Probability Theory and homotopy method for Jacobian spectral density computation.
result FPT metrics correlate highly with final test accuracies of neural networks.
Proposes a neural network for contextual regression.
problem Improving model efficiency and interpretability in regression with contextual features.
method Simple contextual neural network (SCtxtNN) that separates context identification from context-specific regression.
result SCtxtNN achieves lower excess mean squared error and more stable performance than feed-forward neural networks.
Max-Pooling Loss Training of Long Short-Term Memory Networks for Small-Footprint Keyword Spottingcs.CL
We propose a max-pooling based loss function for training Long Short-Term Memory (LSTM) networks for small-footprint keyword spotting (KWS), with low CPU, memory, and latency requirements. The max-pooling loss training can be further guided by initializing with a cross-entropy loss trained network. A posterior smoothin…