ONR Cognitive Neuroscience & Human-Robot Interaction Arlington, VA, June 9, 2010
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Transcript of ONR Cognitive Neuroscience & Human-Robot Interaction Arlington, VA, June 9, 2010
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Graduate StudentsBrain models & NCSLaurence JayetSridhar Reddy
RoboticsSridhar ReddyRoger Hoang
Cluster CommunicationsCorey Thibeault InvestigatorsFred Harris, Jr. Sergiu Dascalu Phil GoodmanHenry MarkramEPFLContributors
ChildBot
Florian MormannU Bonn
Mathias QuoyU de Cergy-Pontoise
2
dopamineAmygdala [fear response]: inhibited by HYp oxytocinHYpothalamus paraventricular nucleus [trust]: oxytocin neuronsPRVCDPM
IT
oxytocin
VCVisual Cortex
PFVPMACAuditory CortexACPFPrefrontal, dorsolateraland medialPRParietal Reach (LIP): reach decision makingVentral PreMotor: sustained activityVPM
Million-Cell Brain Model
Dorsal PreMotor: planning & decidingDPM
BG
BG Basal Ganglia: decision making
AM
AM
HYp
HYpHPF
HPF HippoC FormationEC
HPFEC Entorhinal CortexInferoTemporal cortex: responds to facesIT
BS
BSBrainStem DA & NE centers
NeuroscienceMesocircuit Modeling
Present Scope of Work
Robotic/Human Loops(Virtual Neurorobotics)
Parallel Hardware OptimizationNeuroscienceMesocircuit Modeling
Robotic/Human Loops(Virtual Neurorobotics)
Parallel Hardware OptimizationTo Neural Models & Software Engineering
NCS is the only system witha real-time robotic interface
(bAC)KAHP7Leaky Integrate & Fire Equations
800excitatoryneuronsGexcPconnect200inhibitoryneuronsGexcPconnectGinhPconnectGinhPconnectRecurrent Asynch Irreg Nonlinear (RAIN) networks9Simulated RAIN Activity (1600 cells, 4:1 E:I)
10Mesocircuit RAIN: Edge of ChaosOriginally coined wrt cellular automata: rules for complex processing most likely to be found at phase transitions (PTs) between order & chaotic regimes (Packard 1988; Langton 1990; but questioned by Mitchell et al. (1993)
Hypothesis here wrt Cognition, where SNN have components of SWN, SFN, and exponentially truncated power laws
PTs cause rerouting of ongoing activity (OA), resulting in measured rhythmic synchronization and coherence
The direct mechanism is not embedded synfire chains, braids, avalanches, rate-coded paths, etc.
Modulated by plastic synaptic structures
Modulated by neurohormones (incl OT)
Dynamic systems & directed graph theory > theory of computation
Edge of Chaos Concept
Unpublished data, 3/2010: Quoy, Goodman Lyapunov exponents on human unit simultaneous recordings from Hippocampus and Entorhinal Cortex
ECHIP (data provided in collab withI Fried lab, UCLA)11Biology: EC and HP in vivo
NO intracellular theta precessionAsymm ramp-like depolarizationTheta power & frequ increase in PF
EC cells stabilize PF ignitionEC suppresses # of PF cells firing while increasing firing rateECHP Model: Linear Maze Place Fields
A Circuit-Level Model of Hippocampal Place Field Dynamics Modulated by Entorhinal Grid and Suppression-Generating CellsLaurence C. Jayet1*, and Mathias Quoy2, Philip H. Goodman11 University of Nevada, Reno 2 Universit de Cergy-Pontoise, Paris
w/o Kahp channels NO intracellular theta precessionAsymm ramp-like depolarizationTheta power & frequ increase in PFExplained findings of Harvey et al. (2009) Nature 461:941
EC lesionEC grid cells ignite PFEC suppressor cells stabilizeExplained findings of Van Cauter et al. (2008) EJNeurosci 17:1933
Harvey et al. (2009) Nature 461:941
Full Circuit Model: Short-Term Sequence Memory
CAECDGSUBVisualinputPrefrontalPremotorVisual-ParietalSomato-sensoryinput
R
RRR
RRR
PFCSTMHIPPLACECELLSSUBICULUMSSS
EEERRRField Potential
5010152025Completing the loop: Neocortical-Hippocampal Sequence Learning
SSSTrial 1: no rewardTrial 2: rewardTrial 3
KEY
S=START POSITION E=END POSITIONR=REWARD (green if earned) =enhanced inhibitory oscillation(resets prefrontal activity if not enhanced by prior reward)NeuroscienceMesocircuit Modeling
Robotic/Human Loops(Virtual Neurorobotics)
Parallel Hardware Optimization
Human trials using intranasal OTWillingness to trust, accept social risk (Kosfeld 2005)Trust despite prior betrayal (Baumgartner 2008)Improved ability to infer emotional state of others (Domes 2007)Improved accuracy of classifying facial expressions (Di Simplicio 2009)Improved accuracy of recognizing angry faces (Champaign 2007)Improved memory for familiar faces (Savaskan 2008)Improved memory for faces, not other stimuli (Rummele 2009)Amygdala less active & less coupled to BS and neocortex w/ fear or pain stimuli (Kirsch 2005, Domes 2007, Singer 2008)
Oxytocin Physiology
NeuroanatomyOT is 9-amino acid cyclic peptidefirst peptide to be sequenced & synthesized! (ca. 1950)means rapid birth: OT bursts promote uterine contractionOT bursts cause milk ejection during lactationneurohypophyseal OT system (from pituitary to bloodstream)rodents: maternal & paternal bondingvoles: social recognition of cohabitating partner vs strangerungulates: selective olfactory bonding (memory) for own lambseems to modulate the saliency & encoding of sensory signalsdirect CNS OT system (OT & OTR KOs & pharmacology)Inputs from neocortex, limbic system, and brainstemOutputs:Local dendritic release of OT into CNS fluid Axonal inhib synapses in amygdala & NAcc
SON: magnocellular to pituitary to blood PVN: parvocellular to amygdala, HIP, BG & brainstem
axon to CNSto PITUITARYMagnoParvofluid to CNSTrust & Affiliation paradigm
Willingness to exchange token for foodPhase I: Trust the Intent (TTI)
Robot brain initiates arbitrary sequence of motionshuman moves object in either a similar (match), or different (mismatch) pattern
Robot Initiates ActionHuman RespondsLEARNING
Match: robot learns to trustMismatch: dont trusthuman slowly reaches for an object on the table
Robot either trusts, (assists/offers the object), or distrusts, (retract the object).
Human ActsRobot ReactsCHALLENGE (at any time)trusteddistrusted
Gabor V1,2,4 emulation
Early ITI Results
Concordant > TrustDiscordant > Distrust
mean synaptic strength
Phase II: Emotional Reward Learning (ERL)
human initiates arbitrary sequence of object motionsHuman Initiates ActionLEARNINGGOAL (after several + rewards)
Matches consistentlyrobot moves object in either a similar (match), or different (mismatch) patternRobot Responds
Match: voiced +rewardMismatch: voiced reward
Amygdala [fear response]: inhibited by HYp oxytocinHYpothalamus paraventricular nucleus [trust]: oxytocin neurons
PRVCDPM
IT
oxytocin
VCVisual Cortex
VPMACAuditory CortexACPFPrefrontal, dorsolateraland medialPRParietal Reach (LIP): reach decision makingVentral PreMotor: sustained activityVPM
Million-Cell Brain Model
Dorsal PreMotor: planning & decidingDPM
BG
BG Basal Ganglia: decision making
AM
AM
HYp
HYpHPF
HPF HippoC FormationEC
HPFEC Entorhinal CortexInferoTemporal cortex: responds to facesIT
BS
BSBrainStem DA & NE centersdopamineMultiModalMirror NPF++S
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