Internal representation of sensory information for training autonomous robot

2012 ◽  
Author(s):  
Pitoyo Hartono ◽  
Thomas Trappenberg
Keyword(s):  
Sensory Information ◽  
Internal Representation ◽  
Autonomous Robot

scholarly journals Deficits in Prediction Ability Trigger Asymmetries in Behavior and Internal Representation

2020 ◽  
Vol 11 ◽  
Author(s):  
Anja Philippsen ◽  
Yukie Nagai
Keyword(s):  
Developmental Disorders ◽  
Computational Models ◽  
Predictive Coding ◽  
Sensory Information ◽  
Internal Representation ◽  
Human Perception ◽  
Underlying Mechanism ◽  
Autism Spectrum ◽  
Prediction Ability ◽  
And Behavior

Predictive coding is an emerging theoretical framework for explaining human perception and behavior. The proposed underlying mechanism is that signals encoding sensory information are integrated with signals representing the brain's prior prediction. Imbalance or aberrant precision of the two signals has been suggested as a potential cause for developmental disorders. Computational models may help to understand how such aberrant tendencies in prediction affect development and behavior. In this study, we used a computational approach to test the hypothesis that parametric modifications of prediction ability generate a spectrum of network representations that might reflect the spectrum from typical development to potential disorders. Specifically, we trained recurrent neural networks to draw simple figure trajectories, and found that altering reliance on sensory and prior signals during learning affected the networks' performance and the emergent internal representation. Specifically, both overly strong or weak reliance on predictions impaired network representations, but drawing performance did not always reflect this impairment. Thus, aberrant predictive coding causes asymmetries in behavioral output and internal representations. We discuss the findings in the context of autism spectrum disorder, where we hypothesize that too weak or too strong a reliance on predictions may be the cause of the large diversity of symptoms associated with this disorder.

scholarly journals The right temporoparietal junction plays a causal role in maintaining the internal representation of verticality

2015 ◽  
Vol 114 (5) ◽  
pp. 2983-2990 ◽  
Author(s):  
Francesca Fiori ◽  
Matteo Candidi ◽  
Adriano Acciarino ◽  
Nicole David ◽  
Salvatore Maria Aglioti
Keyword(s):  
Visual Information ◽  
Sensory Information ◽  
Internal Representation ◽  
Causal Role ◽  
Cortical Region ◽  
Temporoparietal Junction ◽  
Gabor Patch ◽  
Visual Vertical ◽  
Right Temporoparietal Junction ◽  
The Right

Perception of the visual vertical is strongly based on our ability to match visual inflow with vestibular, proprioceptive, tactile, and even visceral information that contributes to maintaining an internal representation of the vertical. An important cortical region implicated in multisensory integration is the right temporoparietal junction (rTPJ), which also is involved in higher order forms of body- and space-related cognition. To test whether this region integrates body-related multisensory information necessary for establishing the subjective visual vertical, we combined a psychophysical task (the rod-and-frame test) with transient inhibition of the rTPJ via continuous theta burst stimulation (cTBS). A Gabor patch visual detection task was used as a control visual task. cTBS of early visual cortex (V1–V3) was used to test whether early visual cortices played any role in verticality estimation. We show that inhibition of rTPJ activity selectively impairs the ability to evaluate the rod's verticality when no contextual visual information, such as a frame surrounding the rod, is provided. Conversely, transient inhibition of V1–V3 selectively disrupts the ability to visually detect Gabor patch orientation. This anatomofunctional dissociation supports the idea that the rTPJ plays a causal role in integrating egocentric sensory information encoded in different reference systems (i.e., vestibular and somatic) to maintain an internal representation of verticality.

scholarly journals Changing and shielded magnetic fields suppress c-Fos expression in the navigation circuit: input from the magnetosensory system contributes to the internal representation of space in a subterranean rodent

2010 ◽  
Vol 7 (50) ◽  
pp. 1275-1292 ◽  
Author(s):  
Tomáš Burger ◽  
Marcela Lucová ◽  
Regina E. Moritz ◽  
Helmut H. A. Oelschläger ◽  
Rastislav Druga ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Magnetic Fields ◽  
Spatial Representation ◽  
Sensory Information ◽  
Internal Representation ◽  
Thalamic Nuclei ◽  
Compass Orientation ◽  
Subterranean Rodent ◽  
Motor Information ◽  
Fos Expression

The neural substrate subserving magnetoreception and magnetic orientation in mammals is largely unknown. Previous experiments have demonstrated that the processing of magnetic sensory information takes place in the superior colliculus. Here, the effects of magnetic field conditions on neuronal activity in the rodent navigation circuit were assessed by quantifying c-Fos expression. Ansell's mole-rats ( Fukomys anselli ), a mammalian model to study the mechanisms of magnetic compass orientation, were subjected to natural, periodically changing, and shielded magnetic fields while exploring an unfamiliar circular arena. In the undisturbed local geomagnetic field, the exploration of the novel environment and/or nesting behaviour induced c-Fos expression throughout the head direction system and the entorhinal–hippocampal spatial representation system. This induction was significantly suppressed by exposure to periodically changing and/or shielded magnetic fields; discrete decreases in c-Fos were seen in the dorsal tegmental nucleus, the anterodorsal and the laterodorsal thalamic nuclei, the postsubiculum, the retrosplenial and entorhinal cortices, and the hippocampus. Moreover, in inactive animals, magnetic field intensity manipulation suppressed c-Fos expression in the CA1 and CA3 fields of the hippocampus and the dorsal subiculum, but induced expression in the polymorph layer of the dentate gyrus. These findings suggest that key constituents of the rodent navigation circuit contain populations of neurons responsive to magnetic stimuli. Thus, magnetic information may be integrated with multimodal sensory and motor information into a common spatial representation of allocentric space within this circuit.

Active Perception and Reinforcement Learning

1990 ◽  
Vol 2 (4) ◽  
pp. 409-419 ◽  
Author(s):  
Steven D. Whitehead ◽  
Dana H. Ballard
Keyword(s):  
Reinforcement Learning ◽  
Learning Algorithm ◽  
Sensory Information ◽  
Internal Representation ◽  
Optimal Decision ◽  
Active Perception ◽  
Decision Systems ◽  
Perceptual Aliasing ◽  
Decision Cycle ◽  
Sensorimotor Systems

This paper considers adaptive control architectures that integrate active sensorimotor systems with decision systems based on reinforcement learning. One unavoidable consequence of active perception is that the agent's internal representation often confounds external world states. We call this phenomenon perceptual aliasing and show that it destabilizes existing reinforcement learning algorithms with respect to the optimal decision policy. A new decision system that overcomes these difficulties is described. The system incorporates a perceptual subcycle within the overall decision cycle and uses a modified learning algorithm to suppress the effects of perceptual aliasing. The result is a control architecture that learns not only how to solve a task but also where to focus its attention in order to collect necessary sensory information.

scholarly journals Haptic Identification of Surfaces as Fields of Force

2006 ◽  
Vol 95 (2) ◽  
pp. 1068-1077 ◽  
Author(s):  
Vikram S. Chib ◽  
James L. Patton ◽  
Kevin M. Lynch ◽  
Ferdinando A. Mussa-Ivaldi
Keyword(s):  
Mechanical Properties ◽  
Hand Movement ◽  
Sensory Information ◽  
Internal Representation ◽  
Interaction Force ◽  
Adaptive Responses ◽  
Object Boundary ◽  
Average Force ◽  
Interaction Forces ◽  
First Case

The ability to discriminate an object's shape and mechanical properties from touch is one of the most fundamental somatosensory functions. When exploring physical properties of an object, such as stiffness and curvature, humans probe the object's surface and obtain information from the many sensory receptors in their upper limbs. This sensory information is critical for the guidance of actions. We studied how humans acquire an internal representation of the shape and mechanical properties of surfaces and how this information affects the execution of trajectories over the surface. Experiments involved subjects executing trajectories while holding a planar manipulandum that renders planar virtual objects with variable shape and mechanical properties. Subjects were instructed to make reaching movements with the hand between points on the boundary of a curved virtual disk of varying stiffness and curvature. The results suggest two classifications of adaptive responses: force perturbations and object boundaries. In the first case, a rectilinear hand movement is enforced by opposing the interaction forces. In the second case, the trajectory conforms to the object boundary so as to reduce interaction forces. While this dichotomy is evident for very rigid and very soft objects, the likelihood of an object boundary classification depended, in a smooth and monotonic way, on the average force experienced during the initial movements. Furthermore, the observed response across a variety of stiffness values lead to a constant average interaction force after adaptation. This suggests that the nervous system may select from the two responses through a mechanism that attempts to establish a constant interaction force.

Relation Between Level of Prefrontal Activity and Subject's Performance

1999 ◽  
Vol 13 (2) ◽  
pp. 117-125 ◽  
Author(s):  
Laurence Casini ◽  
Françoise Macar ◽  
Marie-Hélène Giard
Keyword(s):  
Brain Activity ◽  
Sensory Information ◽  
Practice Phase ◽  
Trained Subjects ◽  
Anagram Task ◽  
Economic Information ◽  
Long Duration ◽  
Level Of Activity ◽  
The Brain ◽  
Processing Mechanism

Abstract The experiment reported here was aimed at determining whether the level of brain activity can be related to performance in trained subjects. Two tasks were compared: a temporal and a linguistic task. An array of four letters appeared on a screen. In the temporal task, subjects had to decide whether the letters remained on the screen for a short or a long duration as learned in a practice phase. In the linguistic task, they had to determine whether the four letters could form a word or not (anagram task). These tasks allowed us to compare the level of brain activity obtained in correct and incorrect responses. The current density measures recorded over prefrontal areas showed a relationship between the performance and the level of activity in the temporal task only. The level of activity obtained with correct responses was lower than that obtained with incorrect responses. This suggests that a good temporal performance could be the result of an efficacious, but economic, information-processing mechanism in the brain. In addition, the absence of this relation in the anagram task results in the question of whether this relation is specific to the processing of sensory information only.

Sign in / Sign up

Export Citation Format

Share Document