Movement Generation and Control with Generic Neural Microcircuits
نویسندگان
چکیده
We show that simple linear readouts from generic neural microcircuit models can easily be trained to generate basic arm movements. Such movement generation is independent of the arm-model used and the type of feedbacks that the circuit receives, and generalizes to new targets for reaching movements. Feedbacks that arrive with biologically realistic delays of 50-280 ms are essential for the evolution of such neurocontroller. Additional feedbacks of “prediction of sensory variables” significantly improve the controller performance. Existing control methods in robotics that take the particular dynamics of sensors and actuators into account (“embodiment of motor systems”) are taken one step further with this approach, which provides methods for also using the “embodiment of neural computation”, i.e., the inherent dynamics and spatial structure of neural circuits, for the design of movement controllers.
منابع مشابه
Emergence of complex computational structures from chaotic neural networks through reward-modulated Hebbian learning.
This paper addresses the question how generic microcircuits of neurons in different parts of the cortex can attain and maintain different computational specializations. We show that if stochastic variations in the dynamics of local microcircuits are correlated with signals related to functional improvements of the brain (e.g. in the control of behavior), the computational operation of these mic...
متن کاملMovement Generation with Circuits of Spiking Neurons
How can complex movements that take hundreds of milliseconds be generated by stereotypical neural microcircuits consisting of spiking neurons with a much faster dynamics? We show that linear readouts from generic neural microcircuit models can be trained to generate basic arm movements. Such movement generation is independent of the arm model used and the type of feedback that the circuit recei...
متن کاملInput prediction and autonomous movement analysis in recurrent circuits of spiking neurons.
Temporal integration of information and prediction of future sensory inputs are assumed to be important computational tasks of generic cortical microcircuits. It has remained open how cortical microcircuits could possibly achieve this, especially since they consist--in contrast to most neural network models--of neurons and synapses with heterogeneous dynamic responses. It turns out, however, th...
متن کاملOn the role of feedback in enhancing the computational power of generic neural microcircuits
Circuits of neurons in the brain perform diverse cortical computations in parallel, endowing the organism with diverse cortical modalities, e.g. motor control, vision, and audition; and higher order cognitive processes, e.g. planning, and decision making. It is believed that these computations are carried out by network of neurons in cortical microcircuits, where each microcircuit is composed o...
متن کاملModeling Working Memory and Decision Making Using Generic Neural Microcircuits
Classical behavioral experiments to study working memory typically involve three phases. First the subject receives a stimulus, then holds it in the working memory, and finally makes a decision by comparing it with another stimulus. A neurocomputational model using generic neural microcircuits with feedback is presented here that integrates the three computational stages into a single unified f...
متن کامل