SOVEREIGN: An Autonomous Neural System for Incrementally Learning Planned Action Sequences to Navigate Towards a Rewarded Goal

How do reactive and planned behaviors interact in real time? How are sequences of such behaviors released at appropriate times during autonomous navigation to realize valued goals? Controllers for both animals and mobile robots, or animats, need reactive mechanisms for exploration, and learned plans to reach goal objects once an environment becomes familiar. The SOVEREIGN (Self-Organizing, Vision, Expectation, Recognition, Emotion, Intelligent, Goaloriented Navigation) animat model embodies these capabilities, and is tested in a 3D virtual reality environment. SOVEREIGN includes several interacting subsystems which model complementary properties of cortical What and Where processing streams and which clarify similarities between mechanisms for navigation and arm movement control. As the animat explores an environment, visual inputs are processed by networks that are sensitive to visual form and motion in the What and Where streams, respectively. Position-invariant and sizeinvariant recognition categories are learned by real-time incremental learning in the What stream. Estimates of target position relative to the animat are computed in the Where stream, and can activate approach movements toward the target. Motion cues from animat locomotion can elicit head-orienting movements to bring a new target into view. Approach and orienting movements are alternately performed during animat navigation. Cumulative estimates of each movement are derived from interacting proprioceptive and visual cues. Movement sequences are stored within a motor working memory. Sequences of visual categories are stored in a sensory working memory. These working memories trigger learning of sensory and motor sequence categories, or plans, which together control planned movements. Predictively effective chunk combinations are selectively enhanced via reinforcement learning when the animat is rewarded. Selected planning chunks effect a gradual transition from variable reactive exploratory movements to efficient goal-oriented planned movement sequences. Volitional signals gate interactions between model subsystems and the release of overt behaviors. The model can control different motor sequences under different motivational states and learns more efficient sequences to rewarded goals as exploration proceeds.Riverside Reserach Institute; Defense Advanced Research Projects Agency (N00014-92-J-4015); Air Force Office of Scientific Research (F49620-92-J-0225); National Science Foundation (IRI 90-24877, SBE-0345378); Office of Naval Research (N00014-92-J-1309, N00014-91-J-4100, N00014-01-1-0624, N00014-01-1-0624); Pacific Sierra Research (PSR 91-6075-2

A configural dominant account of contextual cueing : configural cues are stronger than colour cues

Previous work has shown that reaction times to find a target in displays that have been repeated are faster than those for displays that have never been seen before. This learning effect, termed “contextual cueing” (CC), has been shown using contexts such as the configuration of the distractors in the display and the background colour. However, it is not clear how these two contexts interact to facilitate search. We investigated this here by comparing the strengths of these two cues when they appeared together. In Experiment 1, participants searched for a target that was cued by both colour and distractor configural cues, compared with when the target was only predicted by configural information. The results showed that the addition of a colour cue did not increase contextual cueing. In Experiment 2, participants searched for a target that was cued by both colour and distractor configuration compared with when the target was only cued by colour. The results showed that adding a predictive configural cue led to a stronger CC benefit. Experiments 3 and 4 tested the disruptive effects of removing either a learned colour cue or a learned configural cue and whether there was cue competition when colour and configural cues were presented together. Removing the configural cue was more disruptive to CC than removing colour, and configural learning was shown to overshadow the learning of colour cues. The data support a configural dominant account of CC, where configural cues act as the stronger cue in comparison to colour when they are presented together

How Laminar Frontal Cortex and Basal Ganglia Circuits Interact to Control Planned and Reactive Saccades

The basal ganglia and frontal cortex together allow animals to learn adaptive responses that acquire rewards when prepotent reflexive responses are insufficient. Anatomical studies show a rich pattern of interactions between the basal ganglia and distinct frontal cortical layers. Analysis of the laminar circuitry of the frontal cortex, together with its interactions with the basal ganglia, motor thalamus, superior colliculus, and inferotemporal and parietal cortices, provides new insight into how these brain regions interact to learn and perform complexly conditioned behaviors. A neural model whose cortical component represents the frontal eye fields captures these interacting circuits. Simulations of the neural model illustrate how it provides a functional explanation of the dynamics of 17 physiologically identified cell types found in these areas. The model predicts how action planning or priming (in cortical layers III and VI) is dissociated from execution (in layer V), how a cue may serve either as a movement target or as a discriminative cue to move elsewhere, and how the basal ganglia help choose among competing actions. The model simulates neurophysiological, anatomical, and behavioral data about how monkeys perform saccadic eye movement tasks, including fixation; single saccade, overlap, gap, and memory-guided saccades; anti-saccades; and parallel search among distractors.Defense Advanced Research Projects Agency and the Office of Naval Research (N00014-95-l-0409, N00014-92-J-1309, N00014-95-1-0657); National Science Foundation (IRI-97-20333)

View-Invariant Object Category Learning, Recognition, and Search: How Spatial and Object Attention Are Coordinated Using Surface-Based Attentional Shrouds

Air Force Office of Scientific Research (F49620-01-1-0397); National Science Foundation (SBE-0354378); Office of Naval Research (N00014-01-1-0624

The Neural Mechanisms Underlying the Influence of Pavlovian Cues on Human Decision Making

In outcome-specific transfer, pavlovian cues that are predictive of specific outcomes bias action choice toward actions associated with those outcomes. This transfer occurs despite no explicit training of the instrumental actions in the presence of pavlovian cues. The neural substrates of this effect in humans are unknown. To address this, we scanned 23 human subjects with functional magnetic resonance imaging while they made choices between different liquid food rewards in the presence of pavlovian cues previously associated with one of these outcomes. We found behavioral evidence of outcome-specific transfer effects in our subjects, as well as differential blood oxygenation level-dependent activity in a region of ventrolateral putamen when subjects chose, respectively, actions consistent and inconsistent with the pavlovian-predicted outcome. Our results suggest that choosing an action incompatible with a pavlovian-predicted outcome might require the inhibition of feasible but nonselected action– outcome associations. The results of this study are relevant for understanding how marketing actions can affect consumer choice behavior as well as for how environmental cues can influence drug-seeking behavior in addiction

The role of perceived source location in auditory stream segregation: separation affects sound organization, common fate does not

The human auditory system is capable of grouping sounds originating from different sound sources into coherent auditory streams, a process termed auditory stream segregation. Several cues can influence auditory stream segregation, but the full set of cues and the way in which they are integrated is still unknown. In the current study, we tested whether auditory motion can serve as a cue for segregating sequences of tones. Our hypothesis was that, following the principle of common fate, sounds emitted by sources moving together in space along similar trajectories will be more likely to be grouped into a single auditory stream, while sounds emitted by independently moving sources will more often be heard as two streams. Stimuli were derived from sound recordings in which the sound source motion was induced by walking humans. Although the results showed a clear effect of spatial separation, auditory motion had a negligible influence on stream segregation. Hence, auditory motion may not be used as a primitive cue in auditory stream segregation

On Recognizing Transparent Objects in Domestic Environments Using Fusion of Multiple Sensor Modalities

Current object recognition methods fail on object sets that include both diffuse, reflective and transparent materials, although they are very common in domestic scenarios. We show that a combination of cues from multiple sensor modalities, including specular reflectance and unavailable depth information, allows us to capture a larger subset of household objects by extending a state of the art object recognition method. This leads to a significant increase in robustness of recognition over a larger set of commonly used objects.Comment: 12 page