Neurally Implementable Semantic Networks

We propose general principles for semantic networks allowing them to be implemented as dynamical neural networks. Major features of our scheme include: (a) the interpretation that each node in a network stands for a bound integration of the meanings of all nodes and external events the node links with; (b) the systematic use of nodes that stand for categories or types, with separate nodes for instances of these types; (c) an implementation of relationships that does not use intrinsically typed links between nodes.Comment: 32 pages, 12 figure

Methods and Apparatus for Autonomous Robotic Control

Sensory processing of visual, auditory, and other sensor information (e.g., visual imagery, LIDAR, RADAR) is conventionally based on "stovepiped," or isolated processing, with little interactions between modules. Biological systems, on the other hand, fuse multi-sensory information to identify nearby objects of interest more quickly, more efficiently, and with higher signal-to-noise ratios. Similarly, examples of the OpenSense technology disclosed herein use neurally inspired processing to identify and locate objects in a robot's environment. This enables the robot to navigate its environment more quickly and with lower computational and power requirements

Cortical Software Re-Use: A Computational Principle for Cognitive Development in Robots

The goal of this paper is to propose a candidate for consideration as a computational principle for cognitive development in autonomous robots. The candidate in question is the theory of Cortical Software Re-Use (CSRU) and we will make the case in this paper that it provides a mechanism for the incremental construction of cognitive and language systems from simpler sensory-motor components

RALACs: Action Recognition in Autonomous Vehicles using Interaction Encoding and Optical Flow

When applied to autonomous vehicle (AV) settings, action recognition can enhance an environment model's situational awareness. This is especially prevalent in scenarios where traditional geometric descriptions and heuristics in AVs are insufficient. However, action recognition has traditionally been studied for humans, and its limited adaptability to noisy, un-clipped, un-pampered, raw RGB data has limited its application in other fields. To push for the advancement and adoption of action recognition into AVs, this work proposes a novel two-stage action recognition system, termed RALACs. RALACs formulates the problem of action recognition for road scenes, and bridges the gap between it and the established field of human action recognition. This work shows how attention layers can be useful for encoding the relations across agents, and stresses how such a scheme can be class-agnostic. Furthermore, to address the dynamic nature of agents on the road, RALACs constructs a novel approach to adapting Region of Interest (ROI) Alignment to agent tracks for downstream action classification. Finally, our scheme also considers the problem of active agent detection, and utilizes a novel application of fusing optical flow maps to discern relevant agents in a road scene. We show that our proposed scheme can outperform the baseline on the ICCV2021 Road Challenge dataset and by deploying it on a real vehicle platform, we provide preliminary insight to the usefulness of action recognition in decision making

Using a high-dimensional graph of semantic space to model relationships among words

Funding for Open Access provided by the UMD Libraries Open Access Publishing Fund.The GOLD model (Graph Of Language Distribution) is a network model constructed based on co-occurrence in a large corpus of natural language that may be used to explore what information may be present in a graph-structured model of language, and what information may be extracted through theoretically-driven algorithms as well as standard graph analysis methods. The present study will employ GOLD to examine two types of relationship between words: semantic similarity and associative relatedness. Semantic similarity refers to the degree of overlap in meaning between words, while associative relatedness refers to the degree to which two words occur in the same schematic context. It is expected that a graph structured model of language constructed based on co-occurrence should easily capture associative relatedness, because this type of relationship is thought to be present directly in lexical co-occurrence. However, it is hypothesized that semantic similarity may be extracted from the intersection of the set of first-order connections, because two words that are semantically similar may occupy similar thematic or syntactic roles across contexts and thus would co-occur lexically with the same set of nodes. Two versions the GOLD model that differed in terms of the co-occurence window, bigGOLD at the paragraph level and smallGOLD at the adjacent word level, were directly compared to the performance of a well-established distributional model, Latent Semantic Analysis (LSA). The superior performance of the GOLD models (big and small) suggest that a single acquisition and storage mechanism, namely co-occurrence, can account for associative and conceptual relationships between words and is more psychologically plausible than models using singular value decomposition (SVD)

Finding structure in language

Since the Chomskian revolution, it has become apparent that natural language is richly structured, being naturally represented hierarchically, and requiring complex context sensitive rules to define regularities over these representations. It is widely assumed that the richness of the posited structure has strong nativist implications for mechanisms which might learn natural language, since it seemed unlikely that such structures could be derived directly from the observation of linguistic data (Chomsky 1965).This thesis investigates the hypothesis that simple statistics of a large, noisy, unlabelled corpus of natural language can be exploited to discover some of the structure which exists in natural language automatically. The strategy is to initially assume no knowledge of the structures present in natural language, save that they might be found by analysing statistical regularities which pertain between a word and the words which typically surround it in the corpus.To achieve this, various statistical methods are applied to define similarity between statistical distributions, and to infer a structure for a domain given knowledge of the similarities which pertain within it. Using these tools, it is shown that it is possible to form a hierarchical classification of many domains, including words in natural language. When this is done, it is shown that all the major syntactic categories can be obtained, and the classification is both relatively complete, and very much in accord with a standard linguistic conception of how words are classified in natural language.Once this has been done, the categorisation derived is used as the basis of a similar classification of short sequences of words. If these are analysed in a similar way, then several syntactic categories can be derived. These include simple noun phrases, various tensed forms of verbs, and simple prepositional phrases. Once this has been done, the same technique can be applied one level higher, and at this level simple sentences and verb phrases, as well as more complicated noun phrases and prepositional phrases, are shown to be derivable

Biologically inspired methods in speech recognition and synthesis: closing the loop

Current state-of-the-art approaches to computational speech recognition and synthesis are based on statistical analyses of extremely large data sets. It is currently unknown how these methods relate to the methods that the human brain uses to perceive and produce speech. In this thesis, I present a conceptual model, Sermo, which describes some of the computations that the human brain uses to perceive and produce speech. I then implement three large-scale brain models that accomplish tasks theorized to be required by Sermo, drawing upon techniques in automatic speech recognition, articulatory speech synthesis, and computational neuroscience. The first model extracts features from an audio signal by performing a frequency decomposition with an auditory periphery model, then decorrelating the information in that power spectrum with methods commonly used in audio and image compression. I show that the features produced by this model implemented with biologically plausible spiking neurons can be used to classify phones in pre-segmented speech with significantly better accuracy than the features typically used in automatic speech recognition systems. Additionally, I show that this model can be used to compare auditory periphery models in terms of their ability to support phone classification of pre-segmented speech. The second model uses a symbol-like neural representation of a sequence of syllables to generate a trajectory of premotor commands that can be used to control an articulatory synthesizer. I show that the model can produce trajectories up to several seconds in length from a static syllable sequence representation that result in intelligible synthesized speech. The trajectories reflect the high temporal variability of human speech, and smoothly transition between successive syllables, even in rapid utterances. The third model classifies syllables from a trajectory of premotor commands. I show that the model is able to classify syllables online despite high temporal variability, and can produce the same syllable representations used by the second model. These two models can be connected in future work in order to implement a closed-loop sensorimotor speech system. Unlike current computational approaches, all three of these models are implemented with biologically plausible spiking neurons, which can be simulated with neuromorphic hardware, and can interface naturally with artificial cochleas. All models are shown to scale to the level of adult human vocabularies in terms of the neural resources required, though limitations on their performance as a result of scaling will be discussed