MIT 6.8210: Underactuated Robotics
Spring 2023, Lecture 2
Follow live at https://slides.com/d/FSRCIMY/live
(or later at https://slides.com/russtedrake/spring23-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.