Backpropagation is one of the most famous training algorithms for multilayer perceptrons. Unfortunately it can be very slow for practical applications. Over the last years many improvement strategies have been developed to speed up backpropagation. It’s very difficult to compare these different techniques, because most of them have been tested on various specific data sets. Most of the reported...

Computing the inverse dynamics of a robot ann is an active area of research in the control literature. We hope to learn the inverse dynamics by training a neural network on the measured response of a physical ann. The input to the network is a temporal window of measured positions; output is a vector of torques. We train the network on data measured from the first two joints of the CMU Direct-D...