From internal models toward metacognitive AI

In several papers published in Biological Cybernetics in the 1980s and 1990s, Kawato and colleagues proposed computational models explaining how internal models are acquired in the cerebellum. These models were later supported by neurophysiological experiments using monkeys and neuroimaging experiments involving humans. These early studies influenced neuroscience from basic, sensory-motor control to higher cognitive functions. One of the most perplexing enigmas related to internal models is to understand the neural mechanisms that enable animals to learn large-dimensional problems with so few trials. Consciousness and metacognition-the ability to monitor one's own thoughts, may be part of the solution to this enigma. Based on literature reviews of the past 20 years, here we propose a computational neuroscience model of metacognition. The model comprises a modular hierarchical reinforcement-learning architecture of parallel and layered, generative-inverse model pairs. In the prefrontal cortex, a distributed executive network called the "cognitive reality monitoring network" (CRMN) orchestrates conscious involvement of generative-inverse model pairs in perception and action. Based on mismatches between computations by generative and inverse models, as well as reward prediction errors, CRMN computes a "responsibility signal" that gates selection and learning of pairs in perception, action, and reinforcement learning. A high responsibility signal is given to the pairs that best capture the external world, that are competent in movements (small mismatch), and that are capable of reinforcement learning (small reward-prediction error). CRMN selects pairs with higher responsibility signals as objects of metacognition, and consciousness is determined by the entropy of responsibility signals across all pairs. This model could lead to new-generation AI, which exhibits metacognition, consciousness, dimension reduction, selection of modules and corresponding representations, and learning from small samples. It may also lead to the development of a new scientific paradigm that enables the causal study of consciousness by combining CRMN and decoded neurofeedback.

50 Years Since the Marr, Ito, and Albus Models of the Cerebellum

Fifty years have passed since David Marr, Masao Ito, and James Albus proposed seminal models of cerebellar functions. These models share the essential concept that parallel-fiber-Purkinje-cell synapses undergo plastic changes, guided by climbing-fiber activities during sensorimotor learning. However, they differ in several important respects, including holistic versus complementary roles of the cerebellum, pattern recognition versus control as computational objectives, potentiation versus depression of synaptic plasticity, teaching signals versus error signals transmitted by climbing-fibers, sparse expansion coding by granule cells, and cerebellar internal models. In this review, we evaluate different features of the three models based on recent computational and experimental studies. While acknowledging that the three models have greatly advanced our understanding of cerebellar control mechanisms in eye movements and classical conditioning, we propose a new direction for computational frameworks of the cerebellum, that is, hierarchical reinforcement learning with multiple internal models.

Conceptual Imitation Learning in a Human-Robot Interaction Paradigm

In general, imitation is imprecisely used to address different levels of social learning from high-level knowledge transfer to low-level regeneration of motor commands. However, true imitation is based on abstraction and conceptualization. This article presents a model for conceptual imitation through interaction with the teacher to abstract spatio-temporal demonstrations based on their functional meaning. Abstraction, concept acquisition, and self-organization of proto-symbols are performed through an incremental and gradual learning algorithm. In this algorithm, Hidden Markov Models (HMMs) are used to abstract perceptually similar demonstrations. However, abstract (relational) concepts emerge as a collection of HMMs irregularly scattered in the perceptual space but showing the same functionality. Performance of the proposed algorithm is evaluated in two experimental scenarios. The first one is a human-robot interaction task of imitating signs produced by hand movements. The second one is a simulated interactive task of imitating whole body motion patterns of a humanoid model. Experimental results show efficiency of our model for concept extraction, proto-symbol emergence, motion pattern recognition, prediction, and generation.