Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Neural Robot Control Cornelius Weber Hybrid Intelligent.

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Presentation transcript:

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Neural Robot Control Cornelius Weber Hybrid Intelligent Systems University of Sunderland Talk at Nottingham Trent University, 8 th December 2004 on the occasion of returning the MI competition trophy Collaborators: Mark Elshaw, Alex Zochios, Chris Rowan and Stefan Wermter

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme ContentsContents Visual cortex & reinforcement network for docking Cortex self-imitation network for docking Imitation networks for multiple actions: 1-stage/2-stage hierarchical network Outlook

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme ContentsContents Visual cortex & reinforcement network for docking Cortex self-imitation network for docking Imitation networks for multiple actions: 1-stage/2-stage hierarchical network Outlook

Example Task: Docking

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Docking Architecture Information Flow

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Docking Architecture Training (1/3) unsupervised training generative model sparse distributed coding

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme V1 Receptive Fields (training result)

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme winner Comparison of Response Characteristics linearsparsecompetitive

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Attractor Network: Competition via Relaxation weight profileactivation profile activation update y(t+1) = f (W lat y(t))

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Docking Architecture Training (2/3) supervised training, attractor network for pattern completion

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Docking Architecture Visual System

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Docking Architecture Training (3/3) reinforcement training actor-critic model

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme ContentsContents Visual cortex & reinforcement network for docking Cortex self-imitation network for docking Imitation networks for multiple actions: 1-stage/2-stage hierarchical network Outlook

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Mirror Neuron Docking Architecture Information Flow

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme unsupervised training generative model distributed coding Mirror Neuron Docking Architecture Training

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme supervised training, attractor network for prediction Mirror Neuron Docking Architecture Training

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Mirror Neuron Self-Imitation Docking Architecture Information Flow

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Basal Ganglia vs. Motor Cortex Basal ganglia units are active during early task acquisition but not at a later stage (rat T maze decision task). early:late: Basal Ganglia ≙ state space? Motor cortex might take over BG function via self-imitation. Jog et al. (1999) Science, 286,

Docking via Mirror Neurons

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme ContentsContents Visual cortex & reinforcement network for docking Cortex self-imitation network for docking Imitation networks for multiple actions: 1-stage/2-stage hierarchical network Outlook

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Simulated Robot Environment

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Imitation Model Choice

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Areas of Motor- and Language Representations forward back left right ‘go’ ‘pick’ ‘lift’ all individual unit’s receptive fields in hidden area motor units language units

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Areas of Task-Specific Activations ‘go’ ‘pick’ ‘lift’ Recognition : Production : Activations agree with the Somatotopy-of-Action-Words Model.

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Language Instructed Imitative Behaviour ‘go’ ‘pick’ ‘lift’

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Imitation Model Choice

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Neuron’s Receptive Fields in HM Area motor units 4 SOM-area units forward backward left right

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Conclusion for Imitation Network A neural network as a generative model for sensory stimuli generates interactive action sequences allows for context dependent interactive action sequences

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme ContentsContents Visual cortex & reinforcement network for docking Cortex self-imitation network for docking Imitation networks for multiple actions: 1-stage/2-stage hierarchical network Outlook

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Outlook (1/2): Object-Background Separation for Enhanced Object Learning

Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Outlook (2/2): Docking Range Extension by Neural Coordinate Transformations