MIT 6.832: Underactuated Robotics
Spring 2022, Lecture 2
Follow live at https://slides.com/d/U7aWVic/live
(or later at https://slides.com/russtedrake/spring22-lec02)
https://en.wikipedia.org/wiki/Long_short-term_memory
“RNNs using LSTM units partially solve the vanishing gradient problem, because LSTM units allow gradients to also flow unchanged.”
\(x_i\) represents activation (e.g. firing rate) of neuron \(i\).
"Memory" is fixed point.
Dynamics can fill in the details.
from Hertz, Krogh, Palmer, 1991.
from Hertz, Krogh, Palmer, 1991.