neural robot control
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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. Contents. - PowerPoint PPT PresentationTRANSCRIPT
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Neural Robot ControlNeural Robot ControlNeural Robot ControlNeural Robot Control
Cornelius Weber
Hybrid Intelligent Systems
University of Sunderland
Talk at Nottingham Trent University, 8th December 2004
on the occasion of returning the MI competition trophy
Collaborators: Mark Elshaw, Alex Zochios, Chris Rowan and Stefan Wermter
Cornelius Weber
Hybrid Intelligent Systems
University of Sunderland
Talk at Nottingham Trent University, 8th 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 ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
ContentsContentsContentsContents
• 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 ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
ContentsContentsContentsContents
• 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: DockingExample Task: DockingExample Task: DockingExample Task: Docking
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Docking ArchitectureDocking ArchitectureInformation FlowInformation Flow
Docking ArchitectureDocking ArchitectureInformation FlowInformation Flow
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Docking ArchitectureDocking ArchitectureTraining (1/3)Training (1/3)
Docking ArchitectureDocking ArchitectureTraining (1/3)Training (1/3)
unsupervised traininggenerative modelsparse distributed coding
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
V1 Receptive FieldsV1 Receptive Fields(training result)(training result)
V1 Receptive FieldsV1 Receptive Fields(training result)(training result)
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
winner
Comparison ofComparison ofResponse CharacteristicsResponse Characteristics
Comparison ofComparison ofResponse CharacteristicsResponse Characteristics
linear sparse competitive
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Attractor Network:Attractor Network:Competition via RelaxationCompetition via Relaxation
Attractor Network:Attractor Network:Competition via RelaxationCompetition via Relaxation
weight profile activation profile
activation update
y(t+1) = f (Wlat y(t))
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Docking ArchitectureDocking ArchitectureTraining (2/3)Training (2/3)
Docking ArchitectureDocking ArchitectureTraining (2/3)Training (2/3)
supervised training,attractor networkfor pattern completion
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Docking ArchitectureDocking ArchitectureVisual SystemVisual System
Docking ArchitectureDocking ArchitectureVisual SystemVisual System
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Docking ArchitectureDocking ArchitectureTraining (3/3)Training (3/3)
Docking ArchitectureDocking ArchitectureTraining (3/3)Training (3/3)
reinforcement trainingactor-critic model
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
ContentsContentsContentsContents
• 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 ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Mirror NeuronMirror NeuronDocking ArchitectureDocking Architecture
Information FlowInformation Flow
Mirror NeuronMirror NeuronDocking ArchitectureDocking Architecture
Information FlowInformation Flow
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
unsupervised traininggenerative modeldistributed coding
Mirror NeuronMirror NeuronDocking ArchitectureDocking Architecture
TrainingTraining
Mirror NeuronMirror NeuronDocking ArchitectureDocking Architecture
TrainingTraining
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
supervised training,attractor networkfor prediction
Mirror NeuronMirror NeuronDocking ArchitectureDocking Architecture
TrainingTraining
Mirror NeuronMirror NeuronDocking ArchitectureDocking Architecture
TrainingTraining
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Mirror Neuron Self-ImitationMirror Neuron Self-ImitationDocking ArchitectureDocking Architecture
Information FlowInformation Flow
Mirror Neuron Self-ImitationMirror Neuron Self-ImitationDocking ArchitectureDocking Architecture
Information FlowInformation Flow
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Basal Ganglia vs. Motor CortexBasal Ganglia vs. Motor CortexBasal Ganglia vs. Motor CortexBasal 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)Jog et al. (1999) Science, 286, 1158-61 Science, 286, 1158-61
Jog et al. (1999)Jog et al. (1999) Science, 286, 1158-61 Science, 286, 1158-61
Docking via Mirror NeuronsDocking via Mirror NeuronsDocking via Mirror NeuronsDocking via Mirror Neurons
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
ContentsContentsContentsContents
• 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 ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Simulated Robot EnvironmentSimulated Robot EnvironmentSimulated Robot EnvironmentSimulated Robot Environment
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Imitation Model ChoiceImitation Model ChoiceImitation Model ChoiceImitation Model Choice
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Areas of Motor- and Language Areas of Motor- and Language RepresentationsRepresentations
Areas of Motor- and Language Areas of Motor- and Language RepresentationsRepresentations
forward back left right
‘go’ ‘pick’ ‘lift’ all
individual unit’sreceptive fieldsin hidden area
motor units
language units
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Areas of Task-Specific ActivationsAreas of Task-Specific ActivationsAreas of Task-Specific ActivationsAreas of Task-Specific Activations
‘go’ ‘pick’ ‘lift’
‘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 ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Language InstructedLanguage InstructedImitative BehaviourImitative Behaviour
Language InstructedLanguage InstructedImitative BehaviourImitative Behaviour
‘go’ ‘pick’ ‘lift’
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Imitation Model ChoiceImitation Model ChoiceImitation Model ChoiceImitation Model Choice
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Neuron’s Receptive Fields in HM AreaNeuron’s Receptive Fields in HM AreaNeuron’s Receptive Fields in HM AreaNeuron’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 ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Conclusion for Imitation NetworkConclusion for Imitation NetworkConclusion for Imitation NetworkConclusion 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 ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
ContentsContentsContentsContents
• 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 ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Outlook (1/2): Object-Background Outlook (1/2): Object-Background Separation for Enhanced Object Separation for Enhanced Object
LearningLearning
Outlook (1/2): Object-Background Outlook (1/2): Object-Background Separation for Enhanced Object Separation for Enhanced Object
LearningLearning
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open schemeFET-Open scheme
Outlook (2/2): Docking Range Outlook (2/2): Docking Range Extension by Neural Coordinate Extension by Neural Coordinate
TransformationsTransformations
Outlook (2/2): Docking Range Outlook (2/2): Docking Range Extension by Neural Coordinate Extension by Neural Coordinate
TransformationsTransformations