Research Article

A Novel Method for Training an Echo State Network with Feedback-Error Learning

Figure 4

To determine the optimal reservoir size, ESNs with different numbers of internal nodes were trained with the original training method within the FEL scheme. The YMCA movement was repeated 5 times in the training sequence, and the internal noise level was 0.02. The figure shows the mean position errors during testing for 10 repetitions of each experiment.