The echo index and multistability in input-driven recurrent neural networks

A recurrent neural network (RNN) possesses the echo state property (ESP) if, for a given input sequence, it "forgets'' any internal states of the driven (nonautonomous) system and asymptotically follows a unique, possibly complex trajectory. The lack of ESP is conventionally understood as a lack of reliable behaviour in RNNs. Here, we show that RNNs can reliably perform computations under a more general principle that accounts only for their local behaviour in phase space. To this end, we formulate a generalisation of the ESP and introduce an echo index to characterise the number of simultaneously stable responses of a driven RNN. We show that it is possible for the echo index to change with inputs, highlighting a potential source of computational errors in RNNs due to characteristics of the inputs driving the dynamics. (C) 2020 Elsevier B.V. All rights reserved.