mirror of https://github.com/2martens/uni.git
285 lines
9.7 KiB
TeX
285 lines
9.7 KiB
TeX
\documentclass[12pt,twoside]{scrartcl}
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Meta informations:
|
|
\newcommand{\trauthor}{Jim Martens}
|
|
\newcommand{\trtype}{Seminar Paper} %{Seminararbeit} %{Proseminararbeit}
|
|
\newcommand{\trcourse}{Neural Networks}
|
|
\newcommand{\trtitle}{Outline - Second Environmental Feedback Loop}
|
|
\newcommand{\trmatrikelnummer}{6420323}
|
|
\newcommand{\tremail}{2martens@informatik.uni-hamburg.de}
|
|
\newcommand{\trarbeitsbereich}{Knowledge Technology, WTM}
|
|
\newcommand{\trdate}{26.04.2018}
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Languages:
|
|
|
|
% Falls die Ausarbeitung in Deutsch erfolgt:
|
|
% \usepackage[german]{babel}
|
|
% \usepackage[T1]{fontenc}
|
|
% \usepackage[latin1]{inputenc}
|
|
% \usepackage[latin9]{inputenc}
|
|
% \selectlanguage{german}
|
|
|
|
% If the thesis is written in English:
|
|
\usepackage[spanish,english]{babel}
|
|
\selectlanguage{english}
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Bind packages:
|
|
\usepackage[utf8]{inputenc} % Unicode funktioniert unter Windows, Linux und Mac
|
|
\usepackage[T1]{fontenc}
|
|
\usepackage{acronym} % Acronyms
|
|
\usepackage{algorithmic} % Algorithms and Pseudocode
|
|
\usepackage{algorithm} % Algorithms and Pseudocode
|
|
\usepackage{amsfonts} % AMS Math Packet (Fonts)
|
|
\usepackage{amsmath} % AMS Math Packet
|
|
\usepackage{amssymb} % Additional mathematical symbols
|
|
\usepackage{amsthm}
|
|
\usepackage{booktabs} % Nicer tables
|
|
%\usepackage[font=small,labelfont=bf]{caption} % Numbered captions for figures
|
|
\usepackage{color} % Enables defining of colors via \definecolor
|
|
\definecolor{uhhRed}{RGB}{254,0,0} % Official Uni Hamburg Red
|
|
\definecolor{uhhGrey}{RGB}{122,122,120} % Official Uni Hamburg Grey
|
|
\usepackage{fancybox} % Gleichungen einrahmen
|
|
%\usepackage{fancyhdr} % Packet for nicer headers
|
|
\usepackage[automark]{scrlayer-scrpage}
|
|
\usepackage[hidelinks]{hyperref}\urlstyle{rm}
|
|
%\usepackage{fancyheadings} % Nicer numbering of headlines
|
|
|
|
%\usepackage[outer=3.35cm]{geometry} % Type area (size, margins...) !!!Release version
|
|
%\usepackage[outer=2.5cm]{geometry} % Type area (size, margins...) !!!Print version
|
|
%\usepackage{geometry} % Type area (size, margins...) !!!Proofread version
|
|
\usepackage[outer=3.15cm]{geometry} % Type area (size, margins...) !!!Draft version
|
|
\geometry{a4paper,body={5.8in,9in}}
|
|
|
|
\usepackage{graphicx} % Inclusion of graphics
|
|
%\usepackage{latexsym} % Special symbols
|
|
\usepackage{longtable} % Allow tables over several parges
|
|
\usepackage{listings} % Nicer source code listings
|
|
\usepackage{multicol} % Content of a table over several columns
|
|
\usepackage{multirow} % Content of a table over several rows
|
|
\usepackage{rotating} % Alows to rotate text and objects
|
|
\usepackage[hang]{subfigure} % Allows to use multiple (partial) figures in a fig
|
|
%\usepackage[font=footnotesize,labelfont=rm]{subfig} % Pictures in a floating environment
|
|
\usepackage{tabularx} % Tables with fixed width but variable rows
|
|
\usepackage{url,xspace,boxedminipage} % Accurate display of URLs
|
|
|
|
\usepackage{csquotes}
|
|
\usepackage[
|
|
backend=biber,
|
|
bibstyle=ieee,
|
|
citestyle=ieee,
|
|
minnames=1,
|
|
maxnames=2
|
|
]{biblatex}
|
|
|
|
\addbibresource{bib.bib}
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Configurationen:
|
|
|
|
\hyphenation{whe-ther} % Manually use: "\-" in a word: Staats\-ver\-trag
|
|
|
|
%\lstloadlanguages{C} % Set the default language for listings
|
|
\DeclareGraphicsExtensions{.pdf,.svg,.jpg,.png,.eps} % first try pdf, then eps, png and jpg
|
|
\graphicspath{{./src/}} % Path to a folder where all pictures are located
|
|
%\pagestyle{fancy} % Use nicer header and footer
|
|
\pagestyle{scrheadings}
|
|
|
|
% Redefine the environments for floating objects:
|
|
\setcounter{topnumber}{3}
|
|
\setcounter{bottomnumber}{2}
|
|
\setcounter{totalnumber}{4}
|
|
\renewcommand{\topfraction}{0.9} %Standard: 0.7
|
|
\renewcommand{\bottomfraction}{0.5} %Standard: 0.3
|
|
\renewcommand{\textfraction}{0.1} %Standard: 0.2
|
|
\renewcommand{\floatpagefraction}{0.8} %Standard: 0.5
|
|
|
|
% Tables with a nicer padding:
|
|
\renewcommand{\arraystretch}{1.2}
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Additional 'theorem' and 'definition' blocks:
|
|
\theoremstyle{plain}
|
|
\newtheorem{theorem}{Theorem}[section]
|
|
%\newtheorem{theorem}{Satz}[section] % Wenn in Deutsch geschrieben wird.
|
|
\newtheorem{axiom}{Axiom}[section]
|
|
%\newtheorem{axiom}{Fakt}[chapter] % Wenn in Deutsch geschrieben wird.
|
|
%Usage:%\begin{axiom}[optional description]%Main part%\end{fakt}
|
|
|
|
\theoremstyle{definition}
|
|
\newtheorem{definition}{Definition}[section]
|
|
|
|
%Additional types of axioms:
|
|
\newtheorem{lemma}[axiom]{Lemma}
|
|
\newtheorem{observation}[axiom]{Observation}
|
|
|
|
%Additional types of definitions:
|
|
\theoremstyle{remark}
|
|
%\newtheorem{remark}[definition]{Bemerkung} % Wenn in Deutsch geschrieben wird.
|
|
\newtheorem{remark}[definition]{Remark}
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Provides TODOs within the margin:
|
|
\newcommand{\TODO}[1]{\marginpar{\emph{\small{{\bf TODO: } #1}}}}
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Abbreviations and mathematical symbols
|
|
\newcommand{\modd}{\text{ mod }}
|
|
\newcommand{\RS}{\mathbb{R}}
|
|
\newcommand{\NS}{\mathbb{N}}
|
|
\newcommand{\ZS}{\mathbb{Z}}
|
|
\newcommand{\dnormal}{\mathit{N}}
|
|
\newcommand{\duniform}{\mathit{U}}
|
|
|
|
\newcommand{\erdos}{Erd\H{o}s}
|
|
\newcommand{\renyi}{-R\'{e}nyi}
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Document:
|
|
\begin{document}
|
|
\renewcommand{\headheight}{14.5pt}
|
|
|
|
%\fancyhead{}
|
|
%\fancyhead[LE]{ \slshape \trauthor}
|
|
%\fancyhead[LO]{}
|
|
%\fancyhead[RE]{}
|
|
%\fancyhead[RO]{ \slshape \trtitle}
|
|
\lehead{\slshape \trauthor}
|
|
\rohead{\slshape \trtitle}
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Cover Header:
|
|
\begin{titlepage}
|
|
\begin{flushleft}
|
|
Universit\"at Hamburg\\
|
|
Department Informatik\\
|
|
\trarbeitsbereich\\
|
|
\end{flushleft}
|
|
\vspace{3.5cm}
|
|
\begin{center}
|
|
\huge \trtitle\\
|
|
\end{center}
|
|
\vspace{3.5cm}
|
|
\begin{center}
|
|
\normalsize\trtype\\
|
|
[0.2cm]
|
|
\Large\trcourse\\
|
|
[1.5cm]
|
|
\Large \trauthor\\
|
|
[0.2cm]
|
|
\normalsize Matr.Nr. \trmatrikelnummer\\
|
|
[0.2cm]
|
|
\normalsize\tremail\\
|
|
[1.5cm]
|
|
\Large \trdate
|
|
\end{center}
|
|
\vfill
|
|
\end{titlepage}
|
|
|
|
%backsite of cover sheet is empty!
|
|
\thispagestyle{empty}
|
|
\hspace{1cm}
|
|
\newpage
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Abstract:
|
|
|
|
% Abstract gives a brief summary of the main points of a paper:
|
|
\section*{Abstract}
|
|
Your text here...
|
|
|
|
% Lists:
|
|
\setcounter{tocdepth}{2} % depth of the table of contents (for Seminars 2 is recommented)
|
|
\tableofcontents
|
|
\pagenumbering{arabic}
|
|
\clearpage
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% Content:
|
|
|
|
% the actual content, usually separated over a number of sections
|
|
% each section is assigned a label, in order to be able to put a
|
|
% crossreference to it
|
|
|
|
\section{Introduction}
|
|
\label{sec:introduction}
|
|
|
|
Autonomous robots need to adapt to new situations. They have a need to learn
|
|
for an entire life. In order to do this they need a second environmental feedback
|
|
loop that tells them when to learn.\cite{Toutounji2016}
|
|
|
|
The learning poses another problem as well. The previously learned weights
|
|
are usually largely forgotten, which is known as catastrophic forgetting.\cite{French1999}
|
|
|
|
Since catastrophic forgetting is a key problem for autonomous learning, it is
|
|
crucial to overcome it. In this paper I will present some approaches for
|
|
learning in an autonomous setup to analyse which of them if any can overcome
|
|
catastrophic forgetting. Attempts to overcome that were made by
|
|
Kirkpatrick\cite{Kirkpatrick2017}, Velez\cite{Velez2017} and Shmelkov\cite{Shmelkov2017}.
|
|
|
|
In the context of this paper plasticity refers to synaptic plasticity as described
|
|
in Citri\cite{Citri2008}. The process of learning itself, changing the weights,
|
|
is already considered plasticity. It is important however that the weights can
|
|
be changed during the lifetime of the neural network. Ordinary neural networks
|
|
trained with backpropagation are not involving plasticity.
|
|
|
|
\section{Catastrophic Forgetting}
|
|
\label{sec:catastrophicforgetting}
|
|
|
|
Catastrophic Forgetting is a key issue for multi-task learning which itself
|
|
is a requirement for any neural network that is capable of solving more than
|
|
one type of problem.
|
|
|
|
\section{Plasticity}
|
|
\label{sec:plasticity}
|
|
|
|
Plasticity can be realized by various approaches. Here three approaches are
|
|
presented, Modulated Random Search, Modulated Gaussian Walk and Diffusion based
|
|
neuromodulation.
|
|
|
|
\subsection{Modulated Random Search}
|
|
\label{subsec:mrs}
|
|
|
|
Does things.
|
|
|
|
\subsection{Modulated Gaussian Walk}
|
|
\label{subsec:mgw}
|
|
|
|
Does things more efficient.
|
|
|
|
\subsection{Localized learning}
|
|
\label{subsec:diffusion}
|
|
|
|
Velez describe another approach that employs
|
|
modularity for the learning. Essentially this results in task-specific localized
|
|
learning and functional modules for each subtask.
|
|
|
|
\section{Comparison regarding catastrophic forgetting}
|
|
\label{sec:comparison}
|
|
|
|
Modulated Random Search is not at all useful for overcoming catastrophic forgetting.
|
|
Modulated Gaussian Walk improves to that end.
|
|
Localized learning overcomes catastrophic forgetting for small
|
|
networks.
|
|
|
|
\section{Conclusion}
|
|
\label{sec:concl}
|
|
|
|
A second environmental feedback loop is important to tell autonomous systems
|
|
when to learn. But the method to learn is important as well to be any use
|
|
in a practical environment. A comparison has shown that localized learning
|
|
can overcome catastrophic forgetting for small networks.
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% hier werden - zum Ende des Textes - die bibliographischen Referenzen
|
|
% eingebunden
|
|
%
|
|
% Insbesondere stehen die eigentlichen Informationen in der Datei
|
|
% ``bib.bib''
|
|
%
|
|
\newpage
|
|
\printbibliography
|
|
\addcontentsline{toc}{section}{Bibliography}% Add to the TOC
|
|
|
|
\end{document}
|