A brief review of neural networks based learning and control and their applications for robots

As an imitation of the biological nervous systems, neural networks (NN), which are characterized with powerful learning ability, have been employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification and patterns recognition etc. This article aims to bring a brief review of the state-of-art NN for the complex nonlinear systems. Recent progresses of NNs in both theoretical developments and practical applications are investigated and surveyed. Specifically, NN based robot learning and control applications were further reviewed, including NN based robot manipulator control, NN based human robot interaction and NN based behavior recognition and generation

Lost in translation: Toward a formal model of multilevel, multiscale medicine

For a broad spectrum of low level cognitive regulatory and other biological phenomena, isolation from signal crosstalk between them requires more metabolic free energy than permitting correlation. This allows an evolutionary exaptation leading to dynamic global broadcasts of interacting physiological processes at multiple scales. The argument is similar to the well-studied exaptation of noise to trigger stochastic resonance amplification in physiological subsystems. Not only is the living state characterized by cognition at every scale and level of organization, but by multiple, shifting, tunable, cooperative larger scale broadcasts that link selected subsets of functional modules to address problems. This multilevel dynamical viewpoint has implications for initiatives in translational medicine that have followed the implosive collapse of pharmaceutical industry 'magic bullet' research. In short, failure to respond to the inherently multilevel, multiscale nature of human pathophysiology will doom translational medicine to a similar implosion

Dynamical Systems in Spiking Neuromorphic Hardware

Dynamical systems are universal computers. They can perceive stimuli, remember, learn from feedback, plan sequences of actions, and coordinate complex behavioural responses. The Neural Engineering Framework (NEF) provides a general recipe to formulate models of such systems as coupled sets of nonlinear differential equations and compile them onto recurrently connected spiking neural networks – akin to a programming language for spiking models of computation. The Nengo software ecosystem supports the NEF and compiles such models onto neuromorphic hardware. In this thesis, we analyze the theory driving the success of the NEF, and expose several core principles underpinning its correctness, scalability, completeness, robustness, and extensibility. We also derive novel theoretical extensions to the framework that enable it to far more effectively leverage a wide variety of dynamics in digital hardware, and to exploit the device-level physics in analog hardware. At the same time, we propose a novel set of spiking algorithms that recruit an optimal nonlinear encoding of time, which we call the Delay Network (DN). Backpropagation across stacked layers of DNs dramatically outperforms stacked Long Short-Term Memory (LSTM) networks—a state-of-the-art deep recurrent architecture—in accuracy and training time, on a continuous-time memory task, and a chaotic time-series prediction benchmark. The basic component of this network is shown to function on state-of-the-art spiking neuromorphic hardware including Braindrop and Loihi. This implementation approaches the energy-efficiency of the human brain in the former case, and the precision of conventional computation in the latter case

Autoencoding sensory substitution

Tens of millions of people live blind, and their number is ever increasing. Visual-to-auditory sensory substitution (SS) encompasses a family of cheap, generic solutions to assist the visually impaired by conveying visual information through sound. The required SS training is lengthy: months of effort is necessary to reach a practical level of adaptation. There are two reasons for the tedious training process: the elongated substituting audio signal, and the disregard for the compressive characteristics of the human hearing system. To overcome these obstacles, we developed a novel class of SS methods, by training deep recurrent autoencoders for image-to-sound conversion. We successfully trained deep learning models on different datasets to execute visual-to-auditory stimulus conversion. By constraining the visual space, we demonstrated the viability of shortened substituting audio signals, while proposing mechanisms, such as the integration of computational hearing models, to optimally convey visual features in the substituting stimulus as perceptually discernible auditory components. We tested our approach in two separate cases. In the first experiment, the author went blindfolded for 5 days, while performing SS training on hand posture discrimination. The second experiment assessed the accuracy of reaching movements towards objects on a table. In both test cases, above-chance-level accuracy was attained after a few hours of training. Our novel SS architecture broadens the horizon of rehabilitation methods engineered for the visually impaired. Further improvements on the proposed model shall yield hastened rehabilitation of the blind and a wider adaptation of SS devices as a consequence

Reverse engineering of genetic networks with time delayed recurrent neural networks and clustering techniques

In the iterative process of experimentally probing biological networks and computationally inferring models for the networks, fast, accurate and flexible computational frameworks are needed for modeling and reverse engineering biological networks. In this dissertation, I propose a novel model to simulate gene regulatory networks using a specific type of time delayed recurrent neural networks. Also, I introduce a parameter clustering method to select groups of parameter sets from the simulations representing biologically reasonable networks. Additionally, a general purpose adaptive function is used here to decrease and study the connectivity of small gene regulatory networks modules. In this dissertation, the performance of this novel model is shown to simulate the dynamics and to infer the topology of gene regulatory networks derived from synthetic and experimental time series gene expression data. Here, I assess the quality of the inferred networks by the use of graph edit distance measurements in comparison to the synthetic and experimental benchmarks. Additionally, I compare between edition costs of the inferred networks obtained with the time delay recurrent networks and other previously described reverse engineering methods based on continuous time recurrent neural and dynamic Bayesian networks. Furthermore, I address questions of network connectivity and correlation between data fitting and inference power by simulating common experimental limitations of the reverse engineering process as incomplete and highly noisy data. The novel specific type of time delay recurrent neural networks model in combination with parameter clustering substantially improves the inference power of reverse engineered networks. Additionally, some suggestions for future improvements are discussed, particularly under the data driven perspective as the solution for modeling complex biological systems

Neural mechanisms of visual categorization

The ability to categorize is a fundamental cognitive skill for animals, including human beings. Our lives would be utterly confusing without categories. We would feel overwhelmed or miss out on important aspects of our environment if we would perceive every single entity as one-of-a-kind. Therefore, categorization is of great importance for perception, learning, remembering, decision making, performing an action, certain aspects of social interaction, and reasoning. The seemingly effortless and instantaneous ability to transform sensory information into meaningful categories determines the success for interacting with our environment. However, the apparent ease with which we use categorization and categories conceals the complexity of the underlying brain processing that makes categorization and categorical representations possible. Therefore, the question arises: how are categorical information encoded and represented in the brain