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Learning Flexible Goal-Directed Behavior Christian Balkenius Lund University Cognitive Science Wednesday, April 18, 12 Wednesday, April 18, 12 Wednesday, April 18, 12 Wednesday, April 18, 12 Wednesday, April 18, 12 Stimulus-Approach

  1. Learning Flexible Goal-Directed Behavior Christian Balkenius Lund University Cognitive Science Wednesday, April 18, 12

  2. Wednesday, April 18, 12

  3. Wednesday, April 18, 12

  4. Wednesday, April 18, 12

  5. Wednesday, April 18, 12

  6. Stimulus-Approach Stimulus-Response Contextual Inhibition Wednesday, April 18, 12

  7. E. L. Thorndike E. C. Tolman (1874-1949) (1886-1959) Wednesday, April 18, 12

  8. E. L. Thorndike E. C. Tolman (1874-1949) (1886-1959) Reactive Behavior Wednesday, April 18, 12

  9. E. L. Thorndike E. C. Tolman (1874-1949) (1886-1959) Reactive Behavior Purposive Behavior Wednesday, April 18, 12

  10. A A Mackintosh, 1983 Wednesday, April 18, 12

  11. A A Mackintosh, 1983 Wednesday, April 18, 12

  12. A A Stimulus-Response Stimulus-Approach Mackintosh, 1983 Wednesday, April 18, 12

  13. Wednesday, April 18, 12

  14. �� �� �� A Forward velocity as function B Forward velocity as function of distance to target of angle to target O O V V M M C D Lateral velocity as function Turning velocity as function of angle to target of angle to target frontal lateral zone zone M M O O V V B Balkenius, Dacke, Balkenius, 2010 Wednesday, April 18, 12

  15. -60, 50, 0 ° 0, 50, 0 ° 60, 50, 0 ° -60, 0, -0 ° 0, 0, 0 ° 60, 0, 0 ° -60,-50, 0 ° 0, -50, 0 ° 60, -50, 0 ° Balkenius, Robotics and Autonomous Systems 1998 Wednesday, April 18, 12

  16. -60, 50, 0 ° 0, 50, 0 ° 60, 50, 0 ° 1 corr -60, 0, -0 ° 0, 0, 0 ° 60, 0, 0 ° 0.8 0.6 0.4 0.2 -60,-50, 0 ° 0, -50, 0 ° 60, -50, 0 ° 0 12 10 10 8 6 5 4 2 0 0 Figure 3.2 Sensitivity to translation when all contribute to the average Balkenius, Robotics and Autonomous Systems 1998 Wednesday, April 18, 12

  17. -60, 50, 0 ° 0, 50, 0 ° 60, 50, 0 ° 1 corr -60, 0, -0 ° 0, 0, 0 ° 60, 0, 0 ° 0.8 0.6 0.4 0.2 -60,-50, 0 ° 0, -50, 0 ° 60, -50, 0 ° 0 12 10 10 8 6 5 4 2 0 0 Figure 3.2 Sensitivity to translation when all contribute to the average Balkenius, Robotics and Autonomous Systems 1998 Wednesday, April 18, 12

  18. -60, 50, 0 ° 0, 50, 0 ° 60, 50, 0 ° 1 corr -60, 0, -0 ° 0, 0, 0 ° 60, 0, 0 ° 0.8 0.6 0.4 value 0.2 -60,-50, 0 ° 0, -50, 0 ° 60, -50, 0 ° 0 12 10 10 8 6 5 4 2 0 0 Figure 3.2 Sensitivity to translation when all contribute to the average Balkenius, Robotics and Autonomous Systems 1998 Wednesday, April 18, 12

  19. 3 2 1 Stimulus-Approach Wednesday, April 18, 12

  20. 3 2 1 Stimulus-Approach Wednesday, April 18, 12

  21. 3 2 1 Stimulus-Approach Wednesday, April 18, 12

  22. 3 2 1 Stimulus-Approach Wednesday, April 18, 12

  23. 3 2 1 Stimulus-Approach Wednesday, April 18, 12

  24. 3 2 1 Stimulus-Approach Wednesday, April 18, 12

  25. 3 2 1 Stimulus-Approach Wednesday, April 18, 12

  26. Switching Control eye regions Balkenius & Kopp, 1997 Wednesday, April 18, 12

  27. Switching Control eye regions orienting Balkenius & Kopp, 1997 Wednesday, April 18, 12

  28. Switching Control eye regions saccades orienting Balkenius & Kopp, 1997 Wednesday, April 18, 12

  29. Switching Control eye regions fixation / smooth pursuit saccades orienting Balkenius & Kopp, 1997 Wednesday, April 18, 12

  30. Wednesday, April 18, 12

  31. Wednesday, April 18, 12

  32. Smooth Pursuit Eye-Movements Wednesday, April 18, 12

  33. ����� ��������� ��� �������฀���� ������ ��������� ��� ���������� ������� ��������� ������������ ���������� ��� �������� Balkenius & Johansson, 2005 Wednesday, April 18, 12

  34. ����� ������� �������� ��� ���������� ��������� ��������� ������������ ���������� ��� ��������� ������ �������฀���� ��� Orienting F 0 F 1 F 2 F 3 Balkenius, Åström, Eriksson, 2004 Wednesday, April 18, 12

  35. ����� ������� �������� ��������� ���������� ������������ ��������� ��� ���������� ��������� ������ �������฀���� ��� ��� Orienting F 0 F 1 F 2 F 3 � S ( x, y ) = G ( x, y ) ∗ θ m F m ( x, y ) m Balkenius, Åström, Eriksson, 2004 Wednesday, April 18, 12

  36. ����� ������� �������� ��� ���������� ������������ ��������� ��������� ���������� ��� ��������� ������ �������฀���� ��� Saccades stimulus-response Balkenius, 2000 Wednesday, April 18, 12

  37. ����� ������� �������� ��� ���������� ������������ ��������� ��������� ���������� ��� ��������� ������ �������฀���� ��� Saccades stimulus-response Balkenius, 2000 Wednesday, April 18, 12

  38. 3 2 3 2 1 1 Stimulus-Approach Wednesday, April 18, 12

  39. 3 2 3 2 1 1 Stimulus-Approach Wednesday, April 18, 12

  40. 3 2 3 2 1 1 Stimulus-Approach Wednesday, April 18, 12

  41. 3 2 3 2 1 1 Stimulus-Approach Wednesday, April 18, 12

  42. 3 2 3 2 1 1 Stimulus-Approach Stimulus-Response Wednesday, April 18, 12

  43. ����� ������� �������� ��� ���������� ������������ ��������� ��������� ���������� ��� ��������� ������ �������฀���� ��� Smooth Pursuit stimulus-approach Balkenius & Johansson, 2005 Wednesday, April 18, 12

  44. ����� ��������� ��� �������฀���� ������ ��������� ��� ���������� ������� ��������� ������������ ���������� ��� �������� Smooth Pursuit DELAY LINE delay p(t) p(t-1) p(t-2) Linear delay p(t+n) Predictor delay p(t-3) stimulus-approach Balkenius & Johansson, 2005 Wednesday, April 18, 12

  45. ����� ��� �������฀���� ������ ��������� ��� ���������� ������� ��������� ������������ ���������� ��� �������� ��������� Smooth Pursuit DELAY LINE delay p(t) p(t-1) p(t-2) Linear delay p(t+n) Predictor delay p(t-3) Prediction confidence sets the gain of the controller stimulus-approach Balkenius & Johansson, 2005 Wednesday, April 18, 12

  46. The Development of Smooth Pursuit • Gradual development from catch up saccades to smooth pursuit from 0-4 month Simulation from Balkenius & Johansson, Epigenetic Robotics, 2005 Data from von Hofsten & Rosander, 1997 Wednesday, April 18, 12

  47. The Development of Smooth Pursuit • Gradual development from catch up saccades to smooth pursuit from 0-4 month Simulation from Balkenius & Johansson, Epigenetic Robotics, 2005 Data from von Hofsten & Rosander, 1997 Wednesday, April 18, 12

  48. Learning to Reach D1 D1 A. Detector Detector Response Response to S1 to S2 Detector Response Tuning Curve Coded Dimension S1 S2 B. D1 D2 D3 D1 D2 D3 Population Population Response Response to S1 to S2 Detector Response Tuning Curves Coded Dimension S1 S2 Wednesday, April 18, 12

  49. Learning to Reach the system learns associations between retinal positions and joint D1 D1 A. Detector Detector Response Response angles to S1 to S2 Detector Response Tuning Curve Coded Dimension S1 S2 B. D1 D2 D3 D1 D2 D3 Population Population Response Response to S1 to S2 Detector Response Tuning Curves Coded Dimension S1 S2 Wednesday, April 18, 12

  50. Learning to Reach the system learns associations between retinal positions and joint D1 D1 A. Detector Detector Response Response angles to S1 to S2 Detector Response Tuning Curve not driven by error Coded Dimension S1 S2 between hand position B. D1 D2 D3 D1 D2 D3 Population Population Response Response and target to S1 to S2 Detector Response Tuning Curves Coded Dimension S1 S2 Wednesday, April 18, 12

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