Does Corticothalamic Feedback Control Cortical Velocity Tuning?

The thalamus is the major gate to the cortex and its contribution to cortical receptive field properties is well established. Cortical feedback to the thalamus is, in turn, the anatomically dominant input to relay cells, yet its influence on thalamic processing has been difficult to interpret. For an understanding of complex sensory processing, detailed concepts of the corticothalamic interplay need yet to be established. To study corticogeniculate processing in a model, we draw on various physiological and anatomical data concerning the intrinsic dynamics of geniculate relay neurons, the cortical influence on relay modes, lagged and nonlagged neurons, and the structure of visual cortical receptive fields. In extensive computer simulations we elaborate the novel hypothesis that the visual cortex controls via feedback the temporal response properties of geniculate relay cells in a way that alters the tuning of cortical cells for speed.Comment: 31 pages, 7 figure

Probabilistic Search for Object Segmentation and Recognition

The problem of searching for a model-based scene interpretation is analyzed within a probabilistic framework. Object models are formulated as generative models for range data of the scene. A new statistical criterion, the truncated object probability, is introduced to infer an optimal sequence of object hypotheses to be evaluated for their match to the data. The truncated probability is partly determined by prior knowledge of the objects and partly learned from data. Some experiments on sequence quality and object segmentation and recognition from stereo data are presented. The article recovers classic concepts from object recognition (grouping, geometric hashing, alignment) from the probabilistic perspective and adds insight into the optimal ordering of object hypotheses for evaluation. Moreover, it introduces point-relation densities, a key component of the truncated probability, as statistical models of local surface shape

An experimental study of four variants of pose clustering from dense range data

Parameter clustering is a robust estimation technique based on location statistics in a parameter space where parameter samples are computed from data samples. This article investigates parameter clustering as a global estimator of object pose or rigid motion from dense range data without knowing correspondences between data points. Four variants of the algorithm are quantitatively compared regarding estimation accuracy and robustness: sampling poses from data points or from points with surface normals derived from them, each combined with clustering poses in the canonical or consistent parameter space, as defined in Hillenbrand (2007). An extensive test data set is employed: synthetic data generated from a public database of three-dimensional object models through various levels of corruption of their geometric representation; real range data from a public database of models and cluttered scenes. It turns out that sampling raw data points and clustering in the consistent parameter space yields the estimator most robust to data corruption. For data of sufficient quality, however, sampling points with normals is more efficient; this is most evident when detecting objects in cluttered scenes. Moreover, the consistent parameter space is always preferable to the canonical parameter space for clustering

Does Corticothalamic Feedback Control Cortical Velocity Tuning?

The thalamus is the major gate to the cortex and its contribution to cortical receptive field properties is well established. Cortical feedback to the thalamus is, in turn, the anatomically dominant input to relay cells, yet its influence on thalamic processing has been difficult to interpret. For an understanding of complex sensory processing, detailed concepts of the corticothalamic interplay need yet to be established. To study corticogeniculate processing in a model, we draw on various physiological and anatomical data concerning the intrinsic dynamics of geniculate relay neurons, the cortical influence on relay modes, lagged and nonlagged neurons, and the structure of visual cortical receptive fields. In extensive computer simulations we elaborate the novel hypothesis that the visual cortex controls via feedback the temporal response properties of geniculate relay cells in a way that alters the tuning of cortical cells for speed

Spatiotemporal adaptation through corticothalamic loops: A hypothesis

The thalamus is the major gate to the cortex and its control over cortical responses is well established. Cortical feedback to the thalamus is, in turn, the anatomically dominant input to relay cells, yet its influence on thalamic processing has been difficult to interpret. For an understanding of complex sensory processing, detailed concepts of the corticothalamic interplay need yet to be established. Drawing on various physiological and anatomical data, we elaborate the novel hypothesis that the visual cortex controls the spatiotemporal structure of cortical receptive fields via feedback to the lateral geniculate nucleus. Furthermore, we present and analyze a model of corticogeniculate loops that implements this control, and exhibit its ability of object segmentation by statistical motion analysis in the visual field

Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand

Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and versatile grasping with multi-fingered hands. We present a novel, fast, and high fidelity deep learning pipeline consisting of a shape completion module that is based on a single depth image, and followed by a grasp predictor that is based on the predicted object shape. The shape completion network is based on VQDIF and predicts spatial occupancy values at arbitrary query points. As grasp predictor, we use our two-stage architecture that first generates hand poses using an autoregressive model and then regresses finger joint configurations per pose. Critical factors turn out to be sufficient data realism and augmentation, as well as special attention to difficult cases during training. Experiments on a physical robot platform demonstrate successful grasping of a wide range of household objects based on a depth image from a single viewpoint. The whole pipeline is fast, taking only about 1 s for completing the object's shape (0.7 s) and generating 1000 grasps (0.3 s).Comment: 8 pages, 10 figures, 3 tables, 1 algorithm, 2023 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Project page: https://dlr-alr.github.io/2023-humanoids-completio

Subthreshold dynamics of the neural membrane potential driven by stochastic synaptic input

In the cerebral cortex, neurons are subject to a continuous bombardment of synaptic inputs originating from the network's background activity. This leads to ongoing, mostly subthreshold membrane dynamics that depends on the statistics of the background activity and of the synapses made on a neuron. Subthreshold membrane polarization is, in turn, a potent modulator of neural responses. The present paper analyzes the subthreshold dynamics of the neural membrane potential driven by synaptic inputs of stationary statistics. Synaptic inputs are considered in linear interaction. The analysis identifies regimes of input statistics which give rise to stationary, fluctuating, oscillatory, and unstable dynamics. In particular, I show that (i) mere noise inputs can drive the membrane potential into sustained, quasiperiodic oscillations (noise-driven oscillations), in the absence of a stimulus-derived, intraneural, or network pacemaker; (ii) adding hyperpolarizing to depolarizing synaptic input can increase neural activity (hyperpolarization-induced activity), in the absence of hyperpolarization-activated currents

Deep water inflow slowed offshore expansion of the West Antarctic Ice Sheet at the Eocene-Oligocene transition

The stability of the West Antarctic Ice Sheet is threatened by the incursion of warm Circumpolar Deepwater which flows southwards via cross-shelf troughs towards the coast there melting ice shelves. However, the onset of this oceanic forcing on the development and evolution of the West Antarctic Ice Sheet remains poorly understood. Here, we use single- and multichannel seismic reflection profiles to investigate the architecture of a sediment body on the shelf of the Amundsen Sea Embayment. We estimate the formation age of this sediment body to be around the Eocene-Oligocene Transition and find that it possesses the geometry and depositional pattern of a plastered sediment drift. We suggest this indicates a southward inflow of deep water which probably supplied heat and, thus, prevented West Antarctic Ice Sheet advance beyond the coast at this time. We conclude that the West Antarctic Ice Sheet has likely experienced a strong oceanic influence on its dynamics since its initial formation

UV Circular Polarisation in Star Formation Regions : The Origin of Homochirality?

Ultraviolet circularly polarised light has been suggested as the initial cause of the homochirality of organic molecules in terrestrial organisms, via enantiomeric selection of prebiotic molecules by asymmetric photolysis. We present a theoretical investigation of mechanisms by which ultraviolet circular polarisation may be produced in star formation regions. In the scenarios considered here, light scattering produces only a small percentage of net circular polarisation at any point in space, due to the forward throwing nature of the phase function in the ultraviolet. By contrast, dichroic extinction can produce a fairly high percentage of net circular polarisation (∼10%) and may therefore play a key role in producing an enantiomeric excessPeer reviewe