3,233 research outputs found
Learning Representations of Spatial Displacement through Sensorimotor Prediction
Robots act in their environment through sequences of continuous motor
commands. Because of the dimensionality of the motor space, as well as the
infinite possible combinations of successive motor commands, agents need
compact representations that capture the structure of the resulting
displacements. In the case of an autonomous agent with no a priori knowledge
about its sensorimotor apparatus, this compression has to be learned. We
propose to use Recurrent Neural Networks to encode motor sequences into a
compact representation, which is used to predict the consequence of motor
sequences in term of sensory changes. We show that sensory prediction can
successfully guide the compression of motor sequences into representations that
are organized topologically in term of spatial displacement
Identification of Invariant Sensorimotor Structures as a Prerequisite for the Discovery of Objects
Perceiving the surrounding environment in terms of objects is useful for any
general purpose intelligent agent. In this paper, we investigate a fundamental
mechanism making object perception possible, namely the identification of
spatio-temporally invariant structures in the sensorimotor experience of an
agent. We take inspiration from the Sensorimotor Contingencies Theory to define
a computational model of this mechanism through a sensorimotor, unsupervised
and predictive approach. Our model is based on processing the unsupervised
interaction of an artificial agent with its environment. We show how
spatio-temporally invariant structures in the environment induce regularities
in the sensorimotor experience of an agent, and how this agent, while building
a predictive model of its sensorimotor experience, can capture them as densely
connected subgraphs in a graph of sensory states connected by motor commands.
Our approach is focused on elementary mechanisms, and is illustrated with a set
of simple experiments in which an agent interacts with an environment. We show
how the agent can build an internal model of moving but spatio-temporally
invariant structures by performing a Spectral Clustering of the graph modeling
its overall sensorimotor experiences. We systematically examine properties of
the model, shedding light more globally on the specificities of the paradigm
with respect to methods based on the supervised processing of collections of
static images.Comment: 24 pages, 10 figures, published in Frontiers Robotics and A
A Sensorimotor Model for Computing Intended Reach Trajectories
The presumed role of the primate sensorimotor system is to transform reach targets from retinotopic to joint coordinates for producing motor output. However, the interpretation of neurophysiological data within this framework is ambiguous, and has led to the view that the underlying neural computation may lack a well-defined structure. Here, I consider a model of sensorimotor computation in which temporal as well as spatial transformations generate representations of desired limb trajectories, in visual coordinates. This computation is suggested by behavioral experiments, and its modular implementation makes predictions that are consistent with those observed in monkey posterior parietal cortex (PPC). In particular, the model provides a simple explanation for why PPC encodes reach targets in reference frames intermediate between the eye and hand, and further explains why these reference frames shift during movement. Representations in PPC are thus consistent with the orderly processing of information, provided we adopt the view that sensorimotor computation manipulates desired movement trajectories, and not desired movement endpoints
Drifting perceptual patterns suggest prediction errors fusion rather than hypothesis selection: replicating the rubber-hand illusion on a robot
Humans can experience fake body parts as theirs just by simple visuo-tactile
synchronous stimulation. This body-illusion is accompanied by a drift in the
perception of the real limb towards the fake limb, suggesting an update of body
estimation resulting from stimulation. This work compares body limb drifting
patterns of human participants, in a rubber hand illusion experiment, with the
end-effector estimation displacement of a multisensory robotic arm enabled with
predictive processing perception. Results show similar drifting patterns in
both human and robot experiments, and they also suggest that the perceptual
drift is due to prediction error fusion, rather than hypothesis selection. We
present body inference through prediction error minimization as one single
process that unites predictive coding and causal inference and that it is
responsible for the effects in perception when we are subjected to intermodal
sensory perturbations.Comment: Proceedings of the 2018 IEEE International Conference on Development
and Learning and Epigenetic Robotic
Action and behavior: a free-energy formulation
We have previously tried to explain perceptual inference and learning under a free-energy principle that pursues Helmholtz’s agenda to understand the brain in terms of energy minimization. It is fairly easy to show that making inferences about the causes of sensory data can be cast as the minimization of a free-energy bound on the likelihood of sensory inputs, given an internal model of how they were caused. In this article, we consider what would happen if the data themselves were sampled to minimize this bound. It transpires that the ensuing active sampling or inference is mandated by ergodic arguments based on the very existence of adaptive agents. Furthermore, it accounts for many aspects of motor behavior; from retinal stabilization to goal-seeking. In particular, it suggests that motor control can be understood as fulfilling prior expectations about proprioceptive sensations. This formulation can explain why adaptive behavior emerges in biological agents and suggests a simple alternative to optimal control theory. We illustrate these points using simulations of oculomotor control and then apply to same principles to cued and goal-directed movements. In short, the free-energy formulation may provide an alternative perspective on the motor control that places it in an intimate relationship with perception
Dance training shapes action perception and its neural implementation within the young and older adult brain
How we perceive others in action is shaped by our prior experience. Many factors influence brain responses when observing others in action, including training in a particular physical skill, such as sport or dance, and also general development and aging processes. Here, we investigate how learning a complex motor skill shapes neural and behavioural responses among a dance-naïve sample of 20 young and 19 older adults. Across four days, participants physically rehearsed one set of dance sequences, observed a second set, and a third set remained untrained. Functional MRI was obtained prior to and immediately following training. Participants’ behavioural performance on motor and visual tasks improved across the training period, with younger adults showing steeper performance gains than older adults. At the brain level, both age groups demonstrated decreased sensorimotor cortical engagement after physical training, with younger adults showing more pronounced decreases in inferior parietal activity compared to older adults. Neural decoding results demonstrate that among both age groups, visual and motor regions contain experience-specific representations of new motor learning. By combining behavioural measures of performance with univariate and multivariate measures of brain activity, we can start to build a more complete picture of age-related changes in experience-dependent plasticity
Inside the brain of an elite athlete: The neural processes that support high achievement in sports
Events like the World Championships in athletics and the Olympic Games raise the public profile of competitive sports. They may also leave us wondering what sets the competitors in these events apart from those of us who simply watch. Here we attempt to link neural and cognitive processes that have been found to be important for elite performance with computational and physiological theories inspired by much simpler laboratory tasks. In this way we hope to inspire neuroscientists to consider how their basic research might help to explain sporting skill at the highest levels of performance
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