Neural Network Memory Architectures for Autonomous Robot Navigation

This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation. Traditional navigation approaches rely on global maps of the environment to overcome cul-de-sacs and plan feasible motions. Yet, maintaining an accurate global map may be challenging in real-world settings. A possible way to mitigate this limitation is to use learning techniques that forgo hand-engineered map representations and infer appropriate control responses directly from sensed information. An important but unexplored aspect of such approaches is the effect of memory on their performance. This work is a first thorough study of memory structures for deep-neural-network-based robot navigation, and offers novel tools to train such networks from supervision and quantify their ability to generalize to unseen scenarios. We analyze the separation and generalization abilities of feedforward, long short-term memory, and differentiable neural computer networks. We introduce a new method to evaluate the generalization ability by estimating the VC-dimension of networks with a final linear readout layer. We validate that the VC estimates are good predictors of actual test performance. The reported method can be applied to deep learning problems beyond robotics

A roadmap to integrate astrocytes into Systems Neuroscience.

Systems neuroscience is still mainly a neuronal field, despite the plethora of evidence supporting the fact that astrocytes modulate local neural circuits, networks, and complex behaviors. In this article, we sought to identify which types of studies are necessary to establish whether astrocytes, beyond their well-documented homeostatic and metabolic functions, perform computations implementing mathematical algorithms that sub-serve coding and higher-brain functions. First, we reviewed Systems-like studies that include astrocytes in order to identify computational operations that these cells may perform, using Ca2+ transients as their encoding language. The analysis suggests that astrocytes may carry out canonical computations in a time scale of subseconds to seconds in sensory processing, neuromodulation, brain state, memory formation, fear, and complex homeostatic reflexes. Next, we propose a list of actions to gain insight into the outstanding question of which variables are encoded by such computations. The application of statistical analyses based on machine learning, such as dimensionality reduction and decoding in the context of complex behaviors, combined with connectomics of astrocyte-neuronal circuits, is, in our view, fundamental undertakings. We also discuss technical and analytical approaches to study neuronal and astrocytic populations simultaneously, and the inclusion of astrocytes in advanced modeling of neural circuits, as well as in theories currently under exploration such as predictive coding and energy-efficient coding. Clarifying the relationship between astrocytic Ca2+ and brain coding may represent a leap forward toward novel approaches in the study of astrocytes in health and disease