Towards self-attention based visual navigation in the real world

Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and selection of relevant features in pixel space upon which to base action choices, for which Machine Learning techniques are well suited. However, Deep Reinforcement Learning agents trained in simulation often exhibit unsatisfactory results when deployed in the real-world due to perceptual differences known as the $\textit{reality gap}$. An approach that is yet to be explored to bridge this gap is self-attention. In this paper we (1) perform a systematic exploration of the hyperparameter space for self-attention based navigation of 3D environments and qualitatively appraise behaviour observed from different hyperparameter sets, including their ability to generalise; (2) present strategies to improve the agents' generalisation abilities and navigation behaviour; and (3) show how models trained in simulation are capable of processing real world images meaningfully in real time. To our knowledge, this is the first demonstration of a self-attention based agent successfully trained in navigating a 3D action space, using less than 4000 parameters.Comment: Submitted to The 2022 Australian Conference on Robotics and Automation (ACRA 2022

Toward a Biologically Plausible Model of LGN-V1 Pathways Based on Efficient Coding

Increasing evidence supports the hypothesis that the visual system employs a sparse code to represent visual stimuli, where information is encoded in an efficient way by a small population of cells that respond to sensory input at a given time. This includes simple cells in primary visual cortex (V1), which are defined by their linear spatial integration of visual stimuli. Various models of sparse coding have been proposed to explain physiological phenomena observed in simple cells. However, these models have usually made the simplifying assumption that inputs to simple cells already incorporate linear spatial summation. This overlooks the fact that these inputs are known to have strong non-linearities such the separation of ON and OFF pathways, or separation of excitatory and inhibitory neurons. Consequently these models ignore a range of important experimental phenomena that are related to the emergence of linear spatial summation from non-linear inputs, such as segregation of ON and OFF sub-regions of simple cell receptive fields, the push-pull effect of excitation and inhibition, and phase-reversed cortico-thalamic feedback. Here, we demonstrate that a two-layer model of the visual pathway from the lateral geniculate nucleus to V1 that incorporates these biological constraints on the neural circuits and is based on sparse coding can account for the emergence of these experimental phenomena, diverse shapes of receptive fields and contrast invariance of orientation tuning of simple cells when the model is trained on natural images. The model suggests that sparse coding can be implemented by the V1 simple cells using neural circuits with a simple biologically plausible architecture

The effect of morphology upon electrophysiological responses of retinal ganglion cells: simulation results

Retinal ganglion cells (RGCs) display differences in their morphology and intrinsic electrophysiology. The goal of this study is to characterize the ionic currents that explain the behavior of ON and OFF RGCs and to explore if all morphological types of RGCs exhibit the phenomena described in electrophysiological data. We extend our previous single compartment cell models of ON and OFF RGCs to more biophysically realistic multicompartment cell models and investigate the effect of cell morphology on intrinsic electrophysiological properties. The membrane dynamics are described using the Hodgkin - Huxley type formalism. A subset of published patch-clamp data from isolated intact mouse retina is used to constrain the model and another subset is used to validate the model. Two hundred morphologically distinct ON and OFF RGCs are simulated with various densities of ionic currents in different morphological neuron compartments. Our model predicts that the differences between ON and OFF cells are explained by the presence of the low voltage activated calcium current in OFF cells and absence of such in ON cells. Our study shows through simulation that particular morphological types of RGCs are capable of exhibiting the full range of phenomena described in recent experiments. Comparisons of outputs from different cells indicate that the RGC morphologies that best describe recent experimental results are ones that have a larger ratio of soma to total surface area

Application of sensor analysis methodology in fish snacks technology for express bars with regulated histamine content

The object of research is the technology of fish snacks for express bars with a regulated histamine content for the rational correction of certain diets of the population. One of the most problematic places in the technology of fish fermented products is the accumulation of biogenic amines with toxic properties. An increased intake of histamine can cause the so-called «histamine» migraine (Horton's syndrome), headache (Harris' neuralgia, characterized by pain in the eyes, forehead, temporal part of the head, lacrimation, inflammation of the nasal mucosa) and other symptoms, including the gastrointestinal tract, sweat, increased secretion of gastric juice, increased heart rate, and decreased diastolic (lower) blood pressure. In addition, the appearance, namely the shape and color of snacks, reduces the attractiveness of snack products. In the course of the study, methods of sensory analysis, standard methods for studying physical and chemical quality indicators were used. The chosen methodology makes it possible to timely correct technological processes for the production of fish snacks to obtain high-quality, safe food products with a harmonic sensory profile, as well as to control the accumulation of biogenic amines. The obtained results of the research conducted allow to state that the proposed technological methods and the developed ingredient composition of the mince mixture in the production of snacks contribute to the expansion of the range of snack products for a healthy diet with high consumer properties that provide an attractive appearance, safety, and biological value. This is due to the fact that the consumer preferences for shape, color, usefulness and safety taken into account made it possible, based on the methodology of sensory analysis, to scientifically substantiate the choice of raw materials, form requirements for the appearance of finished products and containers used for packaging snacks. The main raw material for the production of snacks is fish from inland waters of Ukraine with a low-active enzymatic system and, accordingly, a small amount of low-molecular volatile substances involved in the formation of odor. The production process ensures a high sanitary level and the use of consumer packaging of small capacity, which meets the modern requirements of visitors to express bars. In addition, natural biopolymers of plant origin have been introduced into the recipe composition of the minced mixture, which allow to control the process of accumulation of biogenic amines

Bond graph modelling of chemoelectrical energy transduction

Energy-based bond graph modelling of biomolecular systems is extended to include chemoelectrical transduction thus enabling integrated thermodynamically-compliant modelling of chemoelectrical systems in general and excitable membranes in particular. Our general approach is illustrated by recreating a well-known model of an excitable membrane. This model is used to investigate the energy consumed during a membrane action potential thus contributing to the current debate on the trade-off between the speed of an action potential event and energy consumption. The influx of Na+ is often taken as a proxy for energy consumption; in contrast, this paper presents an energy based model of action potentials. As the energy based approach avoids the assumptions underlying the proxy approach it can be directly used to compute energy consumption in both healthy and diseased neurons. These results are illustrated by comparing the energy consumption of healthy and degenerative retinal ganglion cells using both simulated and in vitro data

Modelling human choices: MADeM and decision‑making

Research supported by FAPESP 2015/50122-0 and DFG-GRTK 1740/2. RP and AR are also part of the Research, Innovation and Dissemination Center for Neuromathematics FAPESP grant (2013/07699-0). RP is supported by a FAPESP scholarship (2013/25667-8). ACR is partially supported by a CNPq fellowship (grant 306251/2014-0)

25th annual computational neuroscience meeting: CNS-2016

The same neuron may play different functional roles in the neural circuits to which it belongs. For example, neurons in the Tritonia pedal ganglia may participate in variable phases of the swim motor rhythms [1]. While such neuronal functional variability is likely to play a major role the delivery of the functionality of neural systems, it is difficult to study it in most nervous systems. We work on the pyloric rhythm network of the crustacean stomatogastric ganglion (STG) [2]. Typically network models of the STG treat neurons of the same functional type as a single model neuron (e.g. PD neurons), assuming the same conductance parameters for these neurons and implying their synchronous firing [3, 4]. However, simultaneous recording of PD neurons shows differences between the timings of spikes of these neurons. This may indicate functional variability of these neurons. Here we modelled separately the two PD neurons of the STG in a multi-neuron model of the pyloric network. Our neuron models comply with known correlations between conductance parameters of ionic currents. Our results reproduce the experimental finding of increasing spike time distance between spikes originating from the two model PD neurons during their synchronised burst phase. The PD neuron with the larger calcium conductance generates its spikes before the other PD neuron. Larger potassium conductance values in the follower neuron imply longer delays between spikes, see Fig. 17.Neuromodulators change the conductance parameters of neurons and maintain the ratios of these parameters [5]. Our results show that such changes may shift the individual contribution of two PD neurons to the PD-phase of the pyloric rhythm altering their functionality within this rhythm. Our work paves the way towards an accessible experimental and computational framework for the analysis of the mechanisms and impact of functional variability of neurons within the neural circuits to which they belong