Neuronal oscillations, information dynamics, and behaviour: an evolutionary robotics study

Oscillatory neural activity is closely related to cognition and behaviour, with synchronisation mechanisms playing a key role in the integration and functional organization of different cortical areas. Nevertheless, its informational content and relationship with behaviour - and hence cognition - are still to be fully understood. This thesis is concerned with better understanding the role of neuronal oscillations and information dynamics towards the generation of embodied cognitive behaviours and with investigating the efficacy of such systems as practical robot controllers. To this end, we develop a novel model based on the Kuramoto model of coupled phase oscillators and perform three minimally cognitive evolutionary robotics experiments. The analyses focus both on a behavioural level description, investigating the robot’s trajectories, and on a mechanism level description, exploring the variables’ dynamics and the information transfer properties within and between the agent’s body and the environment. The first experiment demonstrates that in an active categorical perception task under normal and inverted vision, networks with a definite, but not too strong, propensity for synchronisation are more able to reconfigure, to organise themselves functionally, and to adapt to different behavioural conditions. The second experiment relates assembly constitution and phase reorganisation dynamics to performance in supervised and unsupervised learning tasks. We demonstrate that assembly dynamics facilitate the evolutionary process, can account for varying degrees of stimuli modulation of the sensorimotor interactions, and can contribute to solving different tasks leaving aside other plasticity mechanisms. The third experiment explores an associative learning task considering a more realistic connectivity pattern between neurons. We demonstrate that networks with travelling waves as a default solution perform poorly compared to networks that are normally synchronised in the absence of stimuli. Overall, this thesis shows that neural synchronisation dynamics, when suitably flexible and reconfigurable, produce an asymmetric flow of information and can generate minimally cognitive embodied behaviours

Sharp wave/ripple network oscillations and learning-associated hippocampal maps

Sharp wave/ripple (SWR, 150–250 Hz) hippocampal events have long been postulated to be involved in memory consolidation. However, more recent work has investigated SWRs that occur during active waking behaviour: findings that suggest that SWRs may also play a role in cell assembly strengthening or spatial working memory. Do such theories of SWR function apply to animal learning? This review discusses how general theories linking SWRs to memory-related function may explain circuit mechanisms related to rodent spatial learning and to the associated stabilization of new cognitive maps

A Survey on Reservoir Computing and its Interdisciplinary Applications Beyond Traditional Machine Learning

Reservoir computing (RC), first applied to temporal signal processing, is a recurrent neural network in which neurons are randomly connected. Once initialized, the connection strengths remain unchanged. Such a simple structure turns RC into a non-linear dynamical system that maps low-dimensional inputs into a high-dimensional space. The model's rich dynamics, linear separability, and memory capacity then enable a simple linear readout to generate adequate responses for various applications. RC spans areas far beyond machine learning, since it has been shown that the complex dynamics can be realized in various physical hardware implementations and biological devices. This yields greater flexibility and shorter computation time. Moreover, the neuronal responses triggered by the model's dynamics shed light on understanding brain mechanisms that also exploit similar dynamical processes. While the literature on RC is vast and fragmented, here we conduct a unified review of RC's recent developments from machine learning to physics, biology, and neuroscience. We first review the early RC models, and then survey the state-of-the-art models and their applications. We further introduce studies on modeling the brain's mechanisms by RC. Finally, we offer new perspectives on RC development, including reservoir design, coding frameworks unification, physical RC implementations, and interaction between RC, cognitive neuroscience and evolution.Comment: 51 pages, 19 figures, IEEE Acces

Storage of phase-coded patterns via STDP in fully-connected and sparse network: a study of the network capacity

We study the storage and retrieval of phase-coded patterns as stable dynamical attractors in recurrent neural networks, for both an analog and a integrate-and-fire spiking model. The synaptic strength is determined by a learning rule based on spike-time-dependent plasticity, with an asymmetric time window depending on the relative timing between pre- and post-synaptic activity. We store multiple patterns and study the network capacity. For the analog model, we find that the network capacity scales linearly with the network size, and that both capacity and the oscillation frequency of the retrieval state depend on the asymmetry of the learning time window. In addition to fully-connected networks, we study sparse networks, where each neuron is connected only to a small number z << N of other neurons. Connections can be short range, between neighboring neurons placed on a regular lattice, or long range, between randomly chosen pairs of neurons. We find that a small fraction of long range connections is able to amplify the capacity of the network. This imply that a small-world-network topology is optimal, as a compromise between the cost of long range connections and the capacity increase. Also in the spiking integrate and fire model the crucial result of storing and retrieval of multiple phase-coded patterns is observed. The capacity of the fully-connected spiking network is investigated, together with the relation between oscillation frequency of retrieval state and window asymmetry

Neural dynamics of social behavior : An evolutionary and mechanistic perspective on communication, cooperation, and competition among situated agents

Social behavior can be found on almost every level of life, ranging from microorganisms to human societies. However, explaining the evolutionary emergence of cooperation, communication, or competition still challenges modern biology. The most common approaches to this problem are based on game-theoretic models. The problem is that these models often assume fixed and limited rules and actions that individual agents can choose from, which excludes the dynamical nature of the mechanisms that underlie the behavior of living systems. So far, there exists a lack of convincing modeling approaches to investigate the emergence of social behavior from a mechanistic and evolutionary perspective. Instead of studying animals, the methodology employed in this thesis combines several aspects from alternative approaches to study behavior in a rather novel way. Robotic models are considered as individual agents which are controlled by recurrent neural networks representing non-linear dynamical system. The topology and parameters of these networks are evolved following an open-ended evolution approach, that is, individuals are not evaluated on high-level goals or optimized for specific functions. Instead, agents compete for limited resources to enhance their chance of survival. Further, there is no restriction with respect to how individuals interact with their environment or with each other. As its main objective, this thesis aims at a complementary approach for studying not only the evolution, but also the mechanisms of basic forms of communication. For this purpose it can be shown that a robot does not necessarily have to be as complex as a human, not even as complex as a bacterium. The strength of this approach is that it deals with rather simple, yet complete and situated systems, facing similar real world problems as animals do, such as sensory noise or dynamically changing environments. The experimental part of this thesis is substantiated in a five-part examination. First, self-organized aggregation patterns are discussed. Second, the advantages of evolving decentralized control with respect to behavioral robustness and flexibility is demonstrated. Third, it is shown that only minimalistic local acoustic communication is required to coordinate the behavior of large groups. This is followed by investigations of the evolutionary emergence of communication. Finally, it is shown how already evolved communicative behavior changes during further evolution when a population is confronted with competition about limited environmental resources. All presented experiments entail thorough analysis of the dynamical mechanisms that underlie evolved communication systems, which has not been done so far in the context of cooperative behavior. This framework leads to a better understanding of the relation between intrinsic neurodynamics and observable agent-environment interactions. The results discussed here provide a new perspective on the evolution of cooperation because they deal with aspects largely neglected in traditional approaches, aspects such as embodiment, situatedness, and the dynamical nature of the mechanisms that underlie behavior. For the first time, it can be demonstrated how noise influences specific signaling strategies and that versatile dynamics of very small-scale neural networks embedded in sensory-motor feedback loops give rise to sophisticated forms of communication such as signal coordination, cooperative intraspecific communication, and, most intriguingly, aggressive interspecific signaling. Further, the results demonstrate the development of counteractive niche construction based on a modification of communication strategies which generates an evolutionary feedback resulting in an active reduction of selection pressure, which has not been shown so far. Thus, the novel findings presented here strongly support the complementary nature of robotic experiments to study the evolution and mechanisms of communication and cooperation.</p

Cortico-muscular coherence in sensorimotor synchronisation

This thesis sets out to investigate the neuro-muscular control mechanisms underlying the ubiquitous phenomenon of sensorimotor synchronisation (SMS). SMS is the coordination of movement to external rhythms, and is commonly observed in everyday life. A large body of research addresses the processes underlying SMS at the levels of behaviour and brain. Comparatively, little is known about the coupling between neural and behavioural processes, i.e. neuro-muscular processes. Here, the neuro-muscular processes underlying SMS were investigated in the form of cortico-muscular coherence measured based on Electroencephalography (EEG) and Electromyography (EMG) recorded in human healthy participants. These neuro-muscular processes were investigated at three levels of engagement: passive listening and observation of rhythms in the environment, imagined SMS, and executed SMS, which resulted in the testing of three hypotheses: (i) Rhythms in the environment, such as music, spontaneously modulate cortico-muscular coupling, (ii) Movement intention modulates cortico-muscular coupling, and (iii) Cortico-muscular coupling is dynamically modulated during SMS time-locked to the stimulus rhythm. These three hypotheses were tested through two studies that used Electroencephalography (EEG) and Electromyography (EMG) recordings to measure Cortico-muscular coherence (CMC). First, CMC was tested during passive music listening, to test whether temporal and spectral properties of music stimuli known to induce groove, i.e., the subjective experience of wanting to move, can spontaneously modulate the overall strength of the communication between the brain and the muscles. Second, imagined and executed movement synchronisation was used to investigate the role of movement intention and dynamics on CMC. The two studies indicate that both top-down, and somatosensory and/or proprioceptive processes modulate CMC during SMS tasks. Although CMC dynamics might be linked to movement dynamics, no direct correlation between movement performance and CMC was found. Furthermore, purely passive auditory or visual rhythmic stimulation did not affect CMC. Together, these findings thus indicate that movement intention and active engagement with rhythms in the environment might be critical in modulating CMC. Further investigations of the mechanisms and function of CMC are necessary, as they could have important implications for clinical and elderly populations, as well as athletes, where optimisation of motor control is necessary to compensate for impaired movement or to achieve elite performance