Review of Neurobiologically Based Mobile Robot Navigation System Research Performed Since 2000

In an attempt to better understand how the navigation part of the brain works and to possibly create smarter and more reliable navigation systems, many papers have been written in the field of biomimetic systems. This paper presents a literature survey of state-of-the-art research performed since the year 2000 on rodent neurobiological and neurophysiologically based navigation systems that incorporate models of spatial awareness and navigation brain cells. The main focus is to explore the functionality of the cognitive maps developed in these mobile robot systems with respect to route planning, as well as a discussion/analysis of the computational complexity required to scale these systems.http://dx.doi.org/10.1155/2016/863725

The Tolman-Eichenbaum Machine: Unifying Space and Relational Memory through Generalization in the Hippocampal Formation

The hippocampal-entorhinal system is important for spatial and relational memory tasks. We formally link these domains, provide a mechanistic understanding of the hippocampal role in generalization, and offer unifying principles underlying many entorhinal and hippocampal cell types. We propose medial entorhinal cells form a basis describing structural knowledge, and hippocampal cells link this basis with sensory representations. Adopting these principles, we introduce the Tolman-Eichenbaum machine (TEM). After learning, TEM entorhinal cells display diverse properties resembling apparently bespoke spatial responses, such as grid, band, border, and object-vector cells. TEM hippocampal cells include place and landmark cells that remap between environments. Crucially, TEM also aligns with empirically recorded representations in complex non-spatial tasks. TEM also generates predictions that hippocampal remapping is not random as previously believed; rather, structural knowledge is preserved across environments. We confirm this structural transfer over remapping in simultaneously recorded place and grid cells

AI of Brain and Cognitive Sciences: From the Perspective of First Principles

Nowadays, we have witnessed the great success of AI in various applications, including image classification, game playing, protein structure analysis, language translation, and content generation. Despite these powerful applications, there are still many tasks in our daily life that are rather simple to humans but pose great challenges to AI. These include image and language understanding, few-shot learning, abstract concepts, and low-energy cost computing. Thus, learning from the brain is still a promising way that can shed light on the development of next-generation AI. The brain is arguably the only known intelligent machine in the universe, which is the product of evolution for animals surviving in the natural environment. At the behavior level, psychology and cognitive sciences have demonstrated that human and animal brains can execute very intelligent high-level cognitive functions. At the structure level, cognitive and computational neurosciences have unveiled that the brain has extremely complicated but elegant network forms to support its functions. Over years, people are gathering knowledge about the structure and functions of the brain, and this process is accelerating recently along with the initiation of giant brain projects worldwide. Here, we argue that the general principles of brain functions are the most valuable things to inspire the development of AI. These general principles are the standard rules of the brain extracting, representing, manipulating, and retrieving information, and here we call them the first principles of the brain. This paper collects six such first principles. They are attractor network, criticality, random network, sparse coding, relational memory, and perceptual learning. On each topic, we review its biological background, fundamental property, potential application to AI, and future development.Comment: 59 pages, 5 figures, review articl

Session 5: Development, Neuroscience and Evolutionary Psychology

Proceedings of the Pittsburgh Workshop in History and Philosophy of Biology, Center for Philosophy of Science, University of Pittsburgh, March 23-24 2001 Session 5: Development, Neuroscience and Evolutionary Psycholog

Real time unsupervised learning of visual stimuli in neuromorphic VLSI systems

Neuromorphic chips embody computational principles operating in the nervous system, into microelectronic devices. In this domain it is important to identify computational primitives that theory and experiments suggest as generic and reusable cognitive elements. One such element is provided by attractor dynamics in recurrent networks. Point attractors are equilibrium states of the dynamics (up to fluctuations), determined by the synaptic structure of the network; a `basin' of attraction comprises all initial states leading to a given attractor upon relaxation, hence making attractor dynamics suitable to implement robust associative memory. The initial network state is dictated by the stimulus, and relaxation to the attractor state implements the retrieval of the corresponding memorized prototypical pattern. In a previous work we demonstrated that a neuromorphic recurrent network of spiking neurons and suitably chosen, fixed synapses supports attractor dynamics. Here we focus on learning: activating on-chip synaptic plasticity and using a theory-driven strategy for choosing network parameters, we show that autonomous learning, following repeated presentation of simple visual stimuli, shapes a synaptic connectivity supporting stimulus-selective attractors. Associative memory develops on chip as the result of the coupled stimulus-driven neural activity and ensuing synaptic dynamics, with no artificial separation between learning and retrieval phases.Comment: submitted to Scientific Repor

A biologically inspired meta-control navigation system for the Psikharpax rat robot

A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e. g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment-recognized as new contexts-and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics