Seminár z kognitívnej vedy a umelej inteligencie - Igor Farkaš (25.2.2020)
v utorok 25.2.2020 o 16:30 hod. v miestnosti I/23
Prednášajúci: prof. Igor Farkaš
Názov: Self-organization of perspective in/variant mirror neurons in a simulated robot
Termín: 25.2.2020, 16:30 hod., I/23
Abstrakt:
Mirror neurons in the brain are assumed to play an important role by mediating the link between an observed action and agent’s motor code, to provide action understanding “from inside”. One issue often neglected in modeling this link is the sensitivity of of the visual or motor neurons to the perspective (view). Mirror neurons in STS visual areas can be either perspective selective or invariant and the same variability was later also discovered in premotor F5 area in macaques, showing the existence of different types of mirror neurons regarding their perspective selectivity. We model this as an emergent phenomenom using the data from the simulated iCub robot, that learns to reach for objects with three types of grasp. The neural network model learns in two phases. First, the motor (F5) and visual (STS) modules are trained in parallel to self-organize modal maps using the corresponding data sequences from the self-perspective. Then, F5 area is retrained using the output from the pretrained STS module, to acquire the mirroring property. Using the optimized model hyperparameters found by grid search, we show that our model fits very well empirical observations, by showing how neurons with various degrees of perspective selectivity emerge in the F5 map.