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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 on theme: "Project funded by the Future and Emerging Technologies arm of the IST Programme FET-Open scheme Neural Robot Control Cornelius Weber Hybrid Intelligent."— Presentation transcript:

1 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

2 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

3 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

4 Example Task: Docking

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

6 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

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

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

9 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))

10 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

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

12 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

13 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

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

15 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

16 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

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

18 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, 1158-61

19 Docking via Mirror Neurons

20 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

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

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

23 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

24 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.

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

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

27 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

28 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

29 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

30 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

31 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

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