An autoencoder is a type of artificial neural network used to learn efficient codings of unlabeled data (unsupervised learning). An autoencoder learns two functions: an encoding function that transforms the input data, and a decoding function that recreates the input data from the encoded representation. The autoencoder learns an efficient representation (encoding) for a set of data, typically for dimensionality reduction, to generate lower-dimensional embeddings for subsequent use by other machine learning algorithms. Variants exist which aim to make the learned representations assume useful properties. Examples are regularized autoencoders (sparse, denoising and contractive autoencoders), which are effective in learning representations for subsequent classification tasks, and variational autoencoders, which can be used as generative models. Autoencoders are applied to many problems, including facial recognition, feature detection, anomaly detection, and learning the meaning of words. In terms of data synthesis, autoencoders can also be used to randomly generate new data that is similar to the input (training) data. == Mathematical principles == === Definition === An autoencoder is defined by the following components: Two sets: the space of encoded messages Z {\displaystyle {\mathcal {Z}}} ; the space of decoded messages X {\displaystyle {\mathcal {X}}} . Typically X {\displaystyle {\mathcal {X}}} and Z {\displaystyle {\mathcal {Z}}} are Euclidean spaces, that is, X = R m , Z = R n {\displaystyle {\mathcal {X}}=\mathbb {R} ^{m},{\mathcal {Z}}=\mathbb {R} ^{n}} with m > n . {\displaystyle m>n.} Two parametrized families of functions: the encoder family E ϕ : X → Z {\displaystyle E_{\phi }:{\mathcal {X}}\rightarrow {\mathcal {Z}}} , parametrized by ϕ {\displaystyle \phi } ; the decoder family D θ : Z → X {\displaystyle D_{\theta }:{\mathcal {Z}}\rightarrow {\mathcal {X}}} , parametrized by θ {\displaystyle \theta } .For any x ∈ X {\displaystyle x\in {\mathcal {X}}} , we usually write z = E ϕ ( x ) {\displaystyle z=E_{\phi }(x)} , and refer to it as the code, the latent variable, latent representation, latent vector, etc. Conversely, for any z ∈ Z {\displaystyle z\in {\mathcal {Z}}} , we usually write x ′ = D θ ( z ) {\displaystyle x'=D_{\theta }(z)} , and refer to it as the (decoded) message. Usually, both the encoder and the decoder are defined as multilayer perceptrons (MLPs). For example, a one-layer-MLP encoder E ϕ {\displaystyle E_{\phi }} is: E ϕ ( x ) = σ ( W x + b ) {\displaystyle E_{\phi }(\mathbf {x} )=\sigma (Wx+b)} where σ {\displaystyle \sigma } is an element-wise activation function, W {\displaystyle W} is a "weight" matrix, and b {\displaystyle b} is a "bias" vector. === Training an autoencoder === An autoencoder, by itself, is simply a tuple of two functions. To judge its quality, we need a task. A task is defined by a reference probability distribution μ r e f {\displaystyle \mu _{ref}} over X {\displaystyle {\mathcal {X}}} , and a "reconstruction quality" function d : X × X → [ 0 , ∞ ] {\displaystyle d:{\mathcal {X}}\times {\mathcal {X}}\to [0,\infty ]} , such that d ( x , x ′ ) {\displaystyle d(x,x')} measures how much x ′ {\displaystyle x'} differs from x {\displaystyle x} . With those, we can define the loss function for the autoencoder as L ( θ , ϕ ) := E x ∼ μ r e f [ d ( x , D θ ( E ϕ ( x ) ) ) ] {\displaystyle L(\theta ,\phi ):=\mathbb {\mathbb {E} } _{x\sim \mu _{ref}}[d(x,D_{\theta }(E_{\phi }(x)))]} The optimal autoencoder for the given task ( μ r e f , d ) {\displaystyle (\mu _{ref},d)} is then arg min θ , ϕ L ( θ , ϕ ) {\displaystyle \arg \min _{\theta ,\phi }L(\theta ,\phi )} . The search for the optimal autoencoder can be accomplished by any mathematical optimization technique, but usually by gradient descent. This search process is referred to as "training the autoencoder". In most situations, the reference distribution is just the empirical distribution given by a dataset { x 1 , . . . , x N } ⊂ X {\displaystyle \{x_{1},...,x_{N}\}\subset {\mathcal {X}}} , so that μ r e f = 1 N ∑ i = 1 N δ x i {\displaystyle \mu _{ref}={\frac {1}{N}}\sum _{i=1}^{N}\delta _{x_{i}}} where δ x i {\displaystyle \delta _{x_{i}}} is the Dirac measure, the quality function is just L 2 {\displaystyle L^{2}} loss: d ( x , x ′ ) = ‖ x − x ′ ‖ 2 2 {\displaystyle d(x,x')=\|x-x'\|_{2}^{2}} , and ‖ ⋅ ‖ 2 {\displaystyle \|\cdot \|_{2}} is the Euclidean norm. Then the problem of searching for the optimal autoencoder is just a least-squares optimization: min θ , ϕ L ( θ , ϕ ) , where L ( θ , ϕ ) = 1 N ∑ i = 1 N ‖ x i − D θ ( E ϕ ( x i ) ) ‖ 2 2 {\displaystyle \min _{\theta ,\phi }L(\theta ,\phi ),\qquad {\text{where }}L(\theta ,\phi )={\frac {1}{N}}\sum _{i=1}^{N}\|x_{i}-D_{\theta }(E_{\phi }(x_{i}))\|_{2}^{2}} === Interpretation === An autoencoder has two main parts: an encoder that maps the message to a code, and a decoder that reconstructs the message from the code. An optimal autoencoder would perform as close to perfect reconstruction as possible, with "close to perfect" defined by the reconstruction quality function d {\displaystyle d} . The simplest way to perform the copying task perfectly would be to duplicate the signal. To suppress this behavior, the code space Z {\displaystyle {\mathcal {Z}}} usually has fewer dimensions than the message space X {\displaystyle {\mathcal {X}}} . Such an autoencoder is called undercomplete. It can be interpreted as compressing the message, or reducing its dimensionality. At the limit of an ideal undercomplete autoencoder, every possible code z {\displaystyle z} in the code space is used to encode a message x {\displaystyle x} that really appears in the distribution μ r e f {\displaystyle \mu _{ref}} , and the decoder is also perfect: D θ ( E ϕ ( x ) ) = x {\displaystyle D_{\theta }(E_{\phi }(x))=x} . This ideal autoencoder can then be used to generate messages indistinguishable from real messages, by feeding its decoder arbitrary code z {\displaystyle z} and obtaining D θ ( z ) {\displaystyle D_{\theta }(z)} , which is a message that really appears in the distribution μ r e f {\displaystyle \mu _{ref}} . If the code space Z {\displaystyle {\mathcal {Z}}} has dimension larger than (overcomplete), or equal to, the message space X {\displaystyle {\mathcal {X}}} , or the hidden units are given enough capacity, an autoencoder can learn the identity function and become useless. However, experimental results found that overcomplete autoencoders might still learn useful features. In the ideal setting, the code dimension and the model capacity could be set on the basis of the complexity of the data distribution to be modeled. A standard way to do so is to add modifications to the basic autoencoder, to be detailed below. == Variations == === Variational autoencoder (VAE) === Variational autoencoders (VAEs) belong to the families of variational Bayesian methods. Despite the architectural similarities with basic autoencoders, VAEs are architected with different goals and have a different mathematical formulation. The latent space is, in this case, composed of a mixture of distributions instead of fixed vectors. Given an input dataset x {\displaystyle x} characterized by an unknown probability function P ( x ) {\displaystyle P(x)} and a multivariate latent encoding vector z {\displaystyle z} , the objective is to model the data as a distribution p θ ( x ) {\displaystyle p_{\theta }(x)} , with θ {\displaystyle \theta } defined as the set of the network parameters so that p θ ( x ) = ∫ z p θ ( x , z ) d z {\displaystyle p_{\theta }(x)=\int _{z}p_{\theta }(x,z)dz} . === Sparse autoencoder (SAE) === Inspired by the sparse coding hypothesis in neuroscience, sparse autoencoders (SAE) are variants of autoencoders, such that the codes E ϕ ( x ) {\displaystyle E_{\phi }(x)} for messages tend to be sparse codes, that is, E ϕ ( x ) {\displaystyle E_{\phi }(x)} is close to zero in most entries. Sparse autoencoders may include more (rather than fewer) hidden units than inputs, but only a small number of the hidden units are allowed to be active at the same time. Encouraging sparsity improves performance on classification tasks. There are two main ways to enforce sparsity. One way is to simply clamp all but the highest-k activations of the latent code to zero. This is the k-sparse autoencoder. The k-sparse autoencoder inserts the following "k-sparse function" in the latent layer of a standard autoencoder: f k ( x 1 , . . . , x n ) = ( x 1 b 1 , . . . , x n b n ) {\displaystyle f_{k}(x_{1},...,x_{n})=(x_{1}b_{1},...,x_{n}b_{n})} where b i = 1 {\displaystyle b_{i}=1} if | x i | {\displaystyle |x_{i}|} ranks in the top k, and 0 otherwise. Backpropagating through f k {\displaystyle f_{k}} is simple: set gradient to 0 for b i = 0 {\displaystyle b_{i}=0} entries, and keep gradient for b i = 1 {\displaystyle b_{i}=1} entries. This is essentially a generalized ReLU function. The other way is a relaxed version of the k-
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