Page 90 - Rapid Learning in Robotics
P. 90

76                                       Extensions to the Standard PSOM Algorithm


                          Both aspects motivate two extensions to the standard PSOM approach: the
                          “Local-PSOMs” and the “Chebyshev-spaced PSOM”, which are the focus
                          of the Sec. 6.3 and 6.4.




                          6.1 The “Multi-Start Technique”


                          The multi-start technique was developed to overcome the multiple minima
                          limitations of the simpler best-match start procedure adopted so far (see
                          Sec. 4.3).


                                   a)               X_1 -> X_2  W 4   b)              X_1 -> X_2 M
                                                        M
                                                       W_a                                W_a
                                   x                                  x      W
                                    2           W                      2       3
                                                 3


                                             W
                                              2                                     W
                                                                                      2
                                  W             W(s)     x 1         W                     x 1
                                   1                                  1

                          Figure 6.1: The problem of local and multiple minima can be solved by the
                          multi-start technique. The solid curve shows the embedded one-dimensional
                          (m   ) PSOM manifold, spanned by the four asterisks marked reference vectors


                          fw     w     w     w   g in IR . The dashed line connects a set of diamont-marked PSOM
                          mappings x     x   .
                          (a) A pathological situation for the standard approach: depending on the starting
                          location s t   , the best-match search can be trapped in a local minimum.
                          (b) The multi-start technique solves the task correctly and can be employed to
                          find multiple solutions.




                             To understand the rationale behind this technique let us consider the
                          four-node PSOM with the S-shaped manifold introduced before in Fig. 5.10.
                          On the left Fig. 6.1a the diamonds on the dotted line show a set of PSOM
                          mappings x      x   (P=diag(1,0)). Starting at the small x   values, the best-
                          match procedure finds the first node w   as start point. When (after the 7th
                          trial) the third reference vector w   gets closer than w  , the gradient descent
                          iteration starts at w   and becomes “trapped” in a local minimum, giving
                          rise to a totally misleading value for x  . On the other trials this problem
   85   86   87   88   89   90   91   92   93   94   95