Cognitive navigation based on nonuniform gabor space sampling, unsupervised growing networks, and reinforcement learning

IEEE Transactions on Neural Networks

Volumn 15, Issue 3, 2004, Pages 639-652

  Arleo, Angelo ^a   Smeraldi, Fabrizio ^b   Gerstner, Wulfram ^c  

^a SONY COMPUTER SCIENCE LABORATORY   (France)

^b QUEEN MARY UNIVERSITY OF LONDON   (United Kingdom)

^c EPFL   (Switzerland)

Author keywords

Gabor decomposition; Hebbian learning; Hippocampal place cells; Log polar sampling; Population vector coding; Reinforcement learning; Robot navigation; Spatial memory; Unsupervised learning

Indexed keywords

COGNITIVE SYSTEMS; MATHEMATICAL MODELS; NAVIGATION; ROBOT LEARNING; STATE SPACE METHODS;

GABOR DECOMPOSITION; HEBBIAN LEARNING; POPULATION VECTOR CODING; REINFORCEMENT LEARNING; UNSUPERVISED LEARNING;

NEURAL NETWORKS;

ARTICLE; ARTIFICIAL NEURAL NETWORK; COGNITION; LEARNING; REINFORCEMENT;

COGNITION; LEARNING; NEURAL NETWORKS (COMPUTER); REINFORCEMENT (PSYCHOLOGY);

EID: 2542641565     PISSN: 10459227     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNN.2004.826221     Document Type: Article

References (34)

1. J. O'Keefe and L. Nadel, The Hippocampus as a Cognitive Map. Oxford, U.K.: Clarendon, 1978.
2. J. S. Taube, R. I. Muller, and J. B. Ranck Jr, "Head direction cells recorded from the postsubiculum in freely moving rats. II. Effects of environmental manipulations," J. Neurosci., vol. 10, pp. 436-447, 1990.
3. R. A. McCallum, "Hidden state and reinforcement learning with instance-based state identification," IEEE Trans. Syst., Man, Cybern., vol. 26, pp. 464-473, 1996.
4. A. P. Georgopoulos, A. Schwartz, and R. E. Kettner, "Neuronal population coding of movement direction," Sci., vol. 233, pp. 1416-1419, 1986.
5. D. J. Foster, R. G. M. Morris, and P. Dayan, "A model of hippocampally dependent navigation, using the temporal difference learning rule," Hippocampus, vol. 10, no. 1, pp. 1-16, 2000.
6. A. Arleo and W. Gerstner, "Modeling rodent head-direction cells and place cells for spatial learning in bio-mimetic robotics," in Animals to Animats VI, J. A. Meyer, A. Berthoz, D. Floreano, H. Roitblat, and S. W. Wilson, Eds. Cambridge, MA: MIT Press, 2000, pp. 236-245.
7. ____, "Spatial orientation in navigating agents: Modeling head-direction cells," Neurocomput., vol. 38-40, no. 1-4, pp. 1059-1065, 2001.
8. ____, "Spatial cognition and neuro-mimetic navigation: A model of hippocampal place cell activity," Biolog. Cybern., Special Issue Navigation Biolog. Artif. Syst., vol. 83, pp. 287-299, 2000.
9. A. Arleo, F. Smeraldi, S. Hug, and W. Gerstner, "Place cells and spatial navigation based on 2D feature extraction, path integration, and reinforcement learning," in Advances in Neural Information Processing Systems 13, T. K. Leen, T. G. Dietterich, and V. Tresp, Eds. Cambridge, MA: MIT Press, 2001, pp. 89-95.
10. H. P. Moravec and A. Elfes, "High resolution maps from wide angle sonar," in Proc. IEEE Int. Conf. Robotics Automation, 1985, pp. 116-121.
11. B. J. Kuipers and Y. T. Byun, "A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations," Robot. Autonomous Syst., vol. 8, pp. 47-63, 1991.
12. R. Chatila and J. P. Laumond, "Position referencing and consistent world modeling for mobile robots," in Proc. IEEE Int. Conf. Robotics Automation, 1985.
13. S. Thrun, "Learning maps for indoor mobile robot navigation," Artif. Intell., vol. 99, pp. 21-71, 1998.
14. A. Arleo, J. del R. Millán, and D. Floreano, "Efficient learning of variable-resolution cognitive maps for autonomous indoor navigation," IEEE Trans. Robot. Automat., vol. 15, pp. 990-1000, 1999.
15. N. Burgess, M. Recce, and J. O'Keefe, "A model of hippocampal function," Neural Networks, vol. 7, pp. 1065-1081, 1994.
16. H. A. Mallot, M. O. Franz, B. Schölkopf, and H. H. Bülthoff, "The view-graph approach to visual navigation and spatial memory," in Proc. Artificial Neural Networks - ICANN'97. 7th Int. Conf., W. Gerstner, A. Germond, M. Hasler, and J. D. Nicoud, Eds., Lausanne, Switzerland, 1997, pp. 751-756.
17. O. Trullier and J.-A. Meyer, "Animat navigation using a cognitive graph," Biolog. Cybern., vol. 83, pp. 271-285, 2000.
18. P. Gaussier, A. Revel, J. P. Banquet, and V. Babeau, "From view cells and place cells to cognitive map learning: Processing stages of the hippocampal system," Biolog. Cybern., vol. 86, no. 1, pp. 15-28, 2002.
19. K. Balakrishnan, O. Bousquet, and V. Honavar, "Spatial learning and localization in rodents: A computational model of the hippocampus and its implications for mobile robots," Adapt. Behav., vol. 7, no. 2, pp. 173-216, 1999.
20. D. H. Hubel and T. N. Wiesel, "Receptive fields, binocular interaction and functional architecture in the cat's visual cortex," J. Physiol., vol. 160, pp. 106-154, 1962.
21. M. O. Franz, B. Schölkopf, H. A. Mallot, and H. H. Bülthoff "Learning view graphs for robot navigation," Autonomous Robots, vol. 5, pp. 111-125, 1998.
22. J. G. Daugman, "Two-dimensional spectral analysis of cortical receptive field profiles," Vision Res., vol. 20, pp. 847-856, 1980.
23. H. Knutsson, Filtering and Reconstruction in Image Processing: Linköping University, 1982, vol. 88, Linköpings Studies Sci. Technol.: dissertations.
24. F. Smeraldi, J. Bigün, and W. Gerstner, "On the role of dimensionality in face authentication," in Proc. Symp. Swedish Soc. Automated Image Analysis, Halmstad, Sweden, 2000, pp. 87-91.
25. F. Smeraldi, O. Carmona, and J. Bigün, "Saccadic search with gabor features applied to eye detection and real-time head-tracking," Image Vision Comput., vol. 18, no. 4, pp. 323-329, 2000.
26. F. Smeraldi and J. Bigun, "Retinal vision applied to facial features detection and face authentication," Pattern Recogn. Lett., vol. 23, pp. 463-475, 2002.
27. B. Fritzke, "Growing cell structures - A self-organizing network for unsupervised and supervised learning," Neural Networks, vol. 7, no. 9, pp. 1441-1460, 1994.
28. E. Salinas and L. F. Abbott, "Vector reconstruction from firing rates," J. Computat. Sci., vol. 1, pp. 89-107, 1994.
29. A. S. Etienne, J. Berlie, J. Georgakopoulos, and R. Maurer, "Role of dead reckoning in navigation," in Spatial Representation in Animals, S. Healy, Ed. Oxford: Oxford Univ. Press, 1998, ch. 3, pp. 54-68.
30. B. Leonard and B. L. McNaughton, "Spatial representation in the rat: Conceptual, behavioral, and neurophysiological perspectives," in Neurobiology of Comparative Cognition, R. P. Kesner and D. S. Olton, Eds. Hillsdale, NJ: Erlbaum, 1990, pp. 363-422.
31. R. S. Sutton and A. G. Barto, Reinforcement Learning, an Introduction. Cambridge, MA: MIT Press-Bradford, 1998.
32. C. J. C. H. Watkins, "Learning From Delayed Rewards," Ph.D. dissertation, Univ. Cambridge, U.K., 1989.
33. E. C. Tolman, "Cognitive maps in rats and men," Psycholog. Rev., vol. 55, pp. 189-208, 1948.
34. R. G. M. Morris, P. Garrud, J. N. P. Rawlins, and J. O'Keefe, "Place navigation impaired in rats with hippocampal lesions," Nature, vol. 297, pp. 681-683, 1982.