Page 86 - Rapid Learning in Robotics
P. 86

72                                               Characteristic Properties by Examples


                          guaranteed. However, for well-behaved mappings the corresponding s
                          values are “far away”, which leads to the advise: Be suspicious, if the best-

                          match s is found far outside the given node-set A.
                             Depending on the particular shape of the embedding manifold M,an
                          unfortunate gradient situation may occur in the vicinity of the border
                          training vectors. In some bad cases the local gradient may point to an-
                          other, far outside local minimum, producing a misleading completion re-
                          sult. Here the following heuristic proved useful:

                             In case the initial best-match node a (Sect. 4.3) has a marginal surface
                          position in A, the minimization procedure Eq. 4.4 should be started at a
                          shifted position

                                                              a       a 	             	            (5.2)
                                                        s t
                          The start-point correction 	a 	 is chosen to move the start location inside

                          the node-set hyper-box, perpendicular to the surface. If a is an edge or
                          corner node, each surface normal contributes to 	a 	. The shift length is
                          uncritical: one third of the node-set interval, but maximal one inter-node
                          distance, is reasonable. This start-point correction is computationally neg-
                          ligible and helps to avoid critical border gradient situations, which could
                          otherwise lead to another, undesired remote minimum of Eq. 4.4.



                          5.6 Continuity Aspects


                          The PSOM establishes a smooth and continuous embedding manifold M
                          s   w s . However, the procedure of associative completion bears several
                          cases of non-continuous responses of the PSOM.
                             They depend on the particular mapping and on the selection of the
                                             in
                          input sub-space X , respectively P. The previous section already exhib-
                          ited the extrapolation case, where multiple solutions occured. What are
                          important cases, where discontinuous PSOM responses are possible?


                          Over-specified Input: Consider the case, where the specified input sub-
                                space X  in  over-determines the best-match point in the parameter
                                manifold S. This happens if the dimensionality of the input space
                                                                                   in
                                is higher than the parameter manifold S: dim X          jIj     .                    m
                                Fig. 5.9 illustrates this situation with a (m       ) one-dimensional
                                PSOM and displays the two input space dimensions X          in  together
   81   82   83   84   85   86   87   88   89   90   91