We survey and summarize the literature on the computational aspects of neural network models by presenting a detailed taxonomy of the various models according to their complexity theoretic characteristics. The criteria of classification include the architecture of the network (feedforward versus recurrent), time model (discrete versus continuous), state type (binary versus analog), weight constraints (symmetric versus asymmetric), network size (finite nets versus infinite families), and computation type (deterministic versus probabilistic), among others. The underlying results concerning the computational power and complexity issues of perceptron, radial basis function, winner-take-all, and spiking neural networks are briefly surveyed, with pointers to the relevant literature. In our survey, we focus mainly on the digital computation whose inputs and outputs are binary in nature, although their values are quite often encoded as analog neuron states. We omit the important learning issues.

We establish a fundamental result in the theory of computation by continuous-time dynamical systems by showing that systems corresponding to so-called continuous-time symmetric Hopfield nets are capable of general computation. As is well known, such networks have very constrained Lyapunov-function controlled dynamics. Nevertheless, we show that they are universal and efficient computational devices, in the sense that any convergent synchronous fully parallel computation by a recurrent network of n discrete-time binary neurons, with in general asymmetric coupling weights, can be simulated by a symmetric continuous-time Hopfield net containing only 18 n + 7 units employing the saturated-linear activation function. Moreover, if the asymmetric network has maximum integer weight size w max and converges in discrete time t *, then the corresponding Hopfield net can be designed to operate in continuous time Θ(t*/ɛ) for any ɛ > 0 such that w max 2 12n ≤ ɛ2 1/ɛ . In terms of standard discrete computation models, our result implies that any polynomially space-bounded Turing machine can be simulated by a family of polynomial-size continuous-time symmetric Hopfield nets.

We investigate the computational properties of finite binary- and analog-state discrete-time symmetric Hopfield nets. For binary networks, we obtain a simulation of convergent asymmetric networks by symmetric networks with only a linear increase in network size and computation time. Then we analyze the convergence time of Hopfield nets in terms of the length of their bit representations. Here we construct an analog symmetric network whose convergence time exceeds the convergence time of any binary Hopfield net with the same representation length. Further, we prove that the MIN ENERGY problem for analog Hopfield nets is NP-hard and provide a polynomial time approximation algorithm for this problem in the case of binary nets. Finally, we show that symmetric analog nets with an external clock are computationally Turing universal.

We introduce a model for analog computation with discrete time in the presence of analog noise that is flexible enough to cover the most important concrete cases, such as noisy analog neural nets and networks of spiking neurons. This model subsumes the classical model for digital computation in the presence of noise. We show that the presence of arbitrarily small amounts of analog noise reduces the power of analog computational models to that of finite automata, and we also prove a new type of upper bound for the VC-dimension of computational models with analog noise.

We prove that polynomial size discrete Hopfield networks with hidden units compute exactly the class of Boolean functions PSPACE/poly, i.e., the same functions as are computed by polynomial space-bounded nonuniform Turing machines. As a corollary to the construction, we observe also that networks with polynomially bounded interconnection weights compute exactly the class of functions P/poly, i.e., the class computed by polynomial time-bounded nonuniform Turing machines.

We prove that it is an NP -hard problem to determine the attraction radius of a stable vector in a binary Hopfield memory network, and even that the attraction radius is hard to approximate. Under synchronous updating, the problems are already NP -hard for two-step attraction radii; direct (one-step) attraction radii can be computed in polynomial time.