Goal-Directed Behavior under Variational Predictive Coding: Dynamic Organization of Visual Attention and Working Memory

Mental simulation is a critical cognitive function for goal-directed behavior because it is essential for assessing actions and their consequences. When a self-generated or externally specified goal is given, a sequence of actions that is most likely to attain that goal is selected among other candidates via mental simulation. Therefore, better mental simulation leads to better goal-directed action planning. However, developing a mental simulation model is challenging because it requires knowledge of self and the environment. The current paper studies how adequate goal-directed action plans of robots can be mentally generated by dynamically organizing top-down visual attention and visual working memory. For this purpose, we propose a neural network model based on variational Bayes predictive coding, where goal-directed action planning is formulated by Bayesian inference of latent intentional space. Our experimental results showed that cognitively meaningful competencies, such as autonomous top-down attention to the robot end effector (its hand) as well as dynamic organization of occlusion-free visual working memory, emerged. Furthermore, our analysis of comparative experiments indicated that introduction of visual working memory and the inference mechanism using variational Bayes predictive coding significantly improve the performance in planning adequate goal-directed actions

Noise suppressing sensor encoding and neural signal orthonormalization

In this paper we regard first the situation where parallel channels are disturbed by noise. With the goal of maximal information conservation we deduce the conditions for a transform which "immunizes" the channels against noise influence before the signals are used in later operations. It shows up that the signals have to be decorrelated and normalized by the filter which corresponds for the case of one channel to the classical result of Shannon. Additional simulations for image encoding and decoding show that this constitutes an efficient approach for noise suppression. Furthermore, by a corresponding objective function we deduce the stochastic and deterministic learning rules for a neural network that implements the data orthonormalization. In comparison with other already existing normalization networks our network shows approximately the same in the stochastic case but, by its generic deduction ensures the convergence and enables the use as independent building block in other contexts, e.g. whitening for independent component analysis. Keywords: information conservation, whitening filter, data orthonormalization network, image encoding, noise suppression