Learning of somatosensory representations for texture discrimination using a temporal coherence principle

Invariant object recognition and pose estimation with slow feature analysis

Primates are very good at recognizing objects independent of viewing angle or retinal position, and they outperform existing computer vision systems by far. But invariant object recognition is only one prerequisite for successful interaction with the environment. An animal also needs to assess an object's position and relative rotational angle. We propose here a model that is able to extract object identity, position, and rotation angles. We demonstrate the model behavior on complex three-dimensional objects under translation and rotation in depth on a homogeneous background. A similar model has previously been shown to extract hippocampal spatial codes from quasi-natural videos. The framework for mathematical analysis of this earlier application carries over to the scenario of invariant object recognition. Thus, the simulation results can be explained analytically even for the complex high-dimensional data we employed.

Using hardware models to quantify sensory data acquisition across the rat vibrissal array

Our laboratory investigates how animals acquire sensory data to understand the neural computations that permit complex sensorimotor behaviors. We use the rat whisker system as a model to study active tactile sensing; our aim is to quantitatively describe the spatiotemporal structure of incoming sensory information to place constraints on subsequent neural encoding and processing. In the first part of this paper we describe the steps in the development of a hardware model (a 'sensobot') of the rat whisker array that can perform object feature extraction. We show how this model provides insights into the neurophysiology and behavior of the real animal. In the second part of this paper, we suggest that sensory data acquisition across the whisker array can be quantified using the complete derivative. We use the example of wall-following behavior to illustrate that computing the appropriate spatial gradients across a sensor array would enable an animal or mobile robot to predict the sensory data that will be acquired at the next time step.

Human eye-head co-ordination in natural exploration

During natural behavior humans continuously adjust their gaze by moving head and eyes, yielding rich dynamics of the retinal input. Sensory coding models, however, typically assume visual input as smooth or a sequence of static images interleaved by volitional gaze shifts. Are these assumptions valid during free exploration behavior in natural environments? We used an innovative technique to simultaneously record gaze and head movements in humans, who freely explored various environments (forest, train station, apartment). Most movements occur along the cardinal axes, and the predominance of vertical or horizontal movements depends on the environment. Eye and head movements co-occur more frequently than their individual statistics predicts under an independence assumption. The majority of co-occurring movements point in opposite directions, consistent with a gaze-stabilizing role of eye movements. Nevertheless, a substantial fraction of eye movements point in the same direction as co-occurring head movements. Even under the very most conservative assumptions, saccadic eye movements alone cannot account for these synergistic movements. Hence nonsaccadic eye movements that interact synergistically with head movements to adjust gaze cannot be neglected in natural visual input. Natural retinal input is continuously dynamic, and cannot be faithfully modeled as a mere sequence of static frames with interleaved large saccades.

Symbols as self-emergent entities in an optimization process of feature extraction and predictions

In the mammalian cortex the early sensory processing can be characterized as feature extraction resulting in local and analogue low-level representations. As a direct consequence, these map directly to the environment, but interpretation under natural conditions is ambiguous. In contrast, high-level representations for cognitive processing, e.g. language, require symbolic representations characterized by expression and syntax. The representations are binary, structured and disambiguated. However, do these fundamental functional distinctions translate into a fundamental distinction of the respective brain areas and their anatomical and physiological properties? Here we argue that the distinction between early sensory processing and higher cognitive functions may not be based on structural differences of cortical areas; instead similar learning principles acting on input signals with different statistics give rise to the observed variations of function. Firstly, we give an account of present research describing neuronal properties at early stages of sensory systems as a consequence of an optimization process over the set of natural stimuli. Secondly, addressing a stage following early visual processing we suggest to extend the unsupervised learning scheme by including predictive processes. These contain the widely used objective of temporal coherence as a special case and are a powerful approach to resolve ambiguities. Furthermore, in combination with a prior on the bandwidth of information exchange between units it leads to a condensation of information. Thirdly, as a crucial step, not only are predictive units optimized, but the selectivity of the feature extractors are adapted to allow optimal predictability. Thus, over and beyond making useful predictions, we propose that the predictability of a stimulus be in itself a selection criterion for further processing. In a hierarchical system the combined optimization process leads to entities that represent condensed pieces of knowledge and that are not analogue anymore. Instead, these entities work as arguments in a framework of transformations that realize predictions. Thus, the criteria of predictability and condensation in an optimization of sensory representations relate directly to the two defining properties of symbols of expression and syntax. In this paper, we sketch an unsupervised learning process that gradually transforms analogue local representations into discrete binary representations by means of four hypotheses. We propose that in this optimization process acting in a hierarchical system, entities emerge at, higher levels that fulfil the criteria defining symbols, instantiating qualitatively different representations at similarly structured low and high levels.