8,863 research outputs found
Intrinsic adaptation in autonomous recurrent neural networks
A massively recurrent neural network responds on one side to input stimuli
and is autonomously active, on the other side, in the absence of sensory
inputs. Stimuli and information processing depends crucially on the qualia of
the autonomous-state dynamics of the ongoing neural activity. This default
neural activity may be dynamically structured in time and space, showing
regular, synchronized, bursting or chaotic activity patterns.
We study the influence of non-synaptic plasticity on the default dynamical
state of recurrent neural networks. The non-synaptic adaption considered acts
on intrinsic neural parameters, such as the threshold and the gain, and is
driven by the optimization of the information entropy. We observe, in the
presence of the intrinsic adaptation processes, three distinct and globally
attracting dynamical regimes, a regular synchronized, an overall chaotic and an
intermittent bursting regime. The intermittent bursting regime is characterized
by intervals of regular flows, which are quite insensitive to external stimuli,
interseeded by chaotic bursts which respond sensitively to input signals. We
discuss these finding in the context of self-organized information processing
and critical brain dynamics.Comment: 24 pages, 8 figure
Intrinsic Motivation and Mental Replay enable Efficient Online Adaptation in Stochastic Recurrent Networks
Autonomous robots need to interact with unknown, unstructured and changing
environments, constantly facing novel challenges. Therefore, continuous online
adaptation for lifelong-learning and the need of sample-efficient mechanisms to
adapt to changes in the environment, the constraints, the tasks, or the robot
itself are crucial. In this work, we propose a novel framework for
probabilistic online motion planning with online adaptation based on a
bio-inspired stochastic recurrent neural network. By using learning signals
which mimic the intrinsic motivation signalcognitive dissonance in addition
with a mental replay strategy to intensify experiences, the stochastic
recurrent network can learn from few physical interactions and adapts to novel
environments in seconds. We evaluate our online planning and adaptation
framework on an anthropomorphic KUKA LWR arm. The rapid online adaptation is
shown by learning unknown workspace constraints sample-efficiently from few
physical interactions while following given way points.Comment: accepted in Neural Network
Attractor Metadynamics in Adapting Neural Networks
Slow adaption processes, like synaptic and intrinsic plasticity, abound in
the brain and shape the landscape for the neural dynamics occurring on
substantially faster timescales. At any given time the network is characterized
by a set of internal parameters, which are adapting continuously, albeit
slowly. This set of parameters defines the number and the location of the
respective adiabatic attractors. The slow evolution of network parameters hence
induces an evolving attractor landscape, a process which we term attractor
metadynamics. We study the nature of the metadynamics of the attractor
landscape for several continuous-time autonomous model networks. We find both
first- and second-order changes in the location of adiabatic attractors and
argue that the study of the continuously evolving attractor landscape
constitutes a powerful tool for understanding the overall development of the
neural dynamics
Information driven self-organization of complex robotic behaviors
Information theory is a powerful tool to express principles to drive
autonomous systems because it is domain invariant and allows for an intuitive
interpretation. This paper studies the use of the predictive information (PI),
also called excess entropy or effective measure complexity, of the sensorimotor
process as a driving force to generate behavior. We study nonlinear and
nonstationary systems and introduce the time-local predicting information
(TiPI) which allows us to derive exact results together with explicit update
rules for the parameters of the controller in the dynamical systems framework.
In this way the information principle, formulated at the level of behavior, is
translated to the dynamics of the synapses. We underpin our results with a
number of case studies with high-dimensional robotic systems. We show the
spontaneous cooperativity in a complex physical system with decentralized
control. Moreover, a jointly controlled humanoid robot develops a high
behavioral variety depending on its physics and the environment it is
dynamically embedded into. The behavior can be decomposed into a succession of
low-dimensional modes that increasingly explore the behavior space. This is a
promising way to avoid the curse of dimensionality which hinders learning
systems to scale well.Comment: 29 pages, 12 figure
Homeostatic plasticity improves signal propagation in continuous time recurrent neural networks
Continuous-time recurrent neural networks (CTRNNs) are potentially an excellent substrate for the generation of adaptive behaviour in artificial autonomous agents. However, node saturation effects in these networks can leave them insensitive to input and stop signals from propagating. Node saturation is related to the problems of hyper-excitation and quiescence in biological nervous systems, which are thought to be avoided through the existence of homeostatic plastic mechanisms. Analogous mechanisms are here implemented in a variety of CTRNN architectures and are shown to increase node sensitivity and improve signal propagation, with implications for robotics. These results lend support to the view that homeostatic plasticity may prevent quiescence and hyper-excitation in biological nervous systems
- …