全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于小脑-基底神经节机理的行为认知计算模型

, PP. 29-36

Keywords: 小脑,基底神经节,操作条件反射,自平衡两轮机器人,行为认知

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对智能体的行为认知问题,提出一种小脑与基底神经节相互协调的行为认知计算模型。该模型核心为操作条件学习算法,包括评价机制、行为选择机制、取向机制及小脑与基底神经节的协调机制。初期的学习信号来自于下橄榄体和黑质两部分,在熵的意义上说明该算法是收敛的。采用该学习方法为自平衡两轮机器人建立运动神经认知系统,利用RBF网络逼近行为和评价网络。仿真实验表明该方法改善仅有基底神经节作用的行为-评价算法学习速度慢和失败次数多的问题,学习后期通过温度的不断降低,加快学习速度,震荡逐渐消失,改善学习效果。

References

[1]  Houk J C,Wise S P.Distributed Modular Architectures Linking Basal Ganglia,Cerebellum and Cerebral Cortex: Their Role in Planning and Controlling Action.Cerebral Cortex,1995,5(2): 95-110
[2]  Lu X,Hikosaka O,Miyachi S.Role of Monkey Cerebellar Nuclei in Skill for Sequential Movement.Journal of Neurophysiology,1998,79(5): 2245-2254
[3]  Doya K.What Are the Computations of the Cerebellum,the Basal Ganglia and the Cerebral Cortex? Neural Networks,1999,12(7/8): 961-974
[4]  Houk J C.Agents of the Mind.Biological Cybernetics,2005,92(6): 427-437
[5]  Girard B,Tabareau N,Phama Q C,et al.Where Neuroscience and Dynamic System Theory Meet Autonomous Robotics: A Contracting Basal Ganglia Model for Action Selection.Neural Networks,2008,21(4): 628-641
[6]  Bogacz R,Gurney K.The Basal Ganglia and Cortex Implement Optimal Decision Making between Alternative Actions.Neural Computation,2007,19(2): 442-477
[7]  Mink J W.The Basal Ganglia: Focused Selection and Inhibition of Competing Motor Programs.Progress in Neurobiology,1996,50(4): 381-425
[8]  Rosenstein M,Barto A.Supervised Actor-Critic Reinforcement Learning // Si J,Barto A,Pouell W,et al,eds.Learning and Approximate Dynamic Programming: Scaling up to the Real World.New York,USA: John Wiley Sons,2004: 359-380
[9]  Sutton R S.Learning to Predict by the Methods of Temporal Difference.Machine Learning,1988,3(1): 9-44
[10]  Ruan Xiaogang.Neural Computational Science: Simulation Brain Function at the Cellular Level.Beijing,China: National Defense Industry Press,2006 (in Chinese)(阮晓钢.神经计算科学:在细胞的水平上模拟脑功能.北京:国防工业出版社,2006)
[11]  Randlov J,Barto A G,Rosenstein M T.Combining Reinforcement Learning with a Local Control Algorithm // Proc of the 17th International Conference on Machine Learning.Stanford,USA,2000: 775-782
[12]  Lazo A V,Rathie P.On the Entropy of Continuous Probability Distributions.IEEE Trans on Information Theory,1978,24(1): 120-122
[13]  Cohen M X,Frank M J.Neurocomputational Models of Basal Ganglia Function in Learning,Memory and Choice.Behavioural Brain Research,2009,199(1): 141-156
[14]  Balleine B W,Liljeholm M,Ostlund S B.The Integrative Function of the Basal Ganglia in Instrumental Conditioning.Behavioural Brain Research,2009,199(1): 43-52
[15]  Berthier N E,Singh S P,Barto A G,et al.Distributed Representation of Limb Motor Programs in Arrays of Adjustable Pattern Generators.Journal of Cognitive Neuroscience,1993,5(1): 56-78
[16]  Bliss T V P,Collingridge G L.A Synaptic Model of Memory: Long-Term Potentiation in the Hippocampus.Nature,1993,361(6407): 31-39
[17]  Hua S E,Houk J C.Cerebellar Guidance of Premotor Network Development and Sensorimotor Learning.Learning Memory,1997,4(1): 63-76
[18]  Wang Shangfei,Wang Xufa.Brain Emotion Circuit Based Artificial Emotional Intelligence Model.Pattern Recognition and Artificial Intelligence,2007,20(2): 167-172(in Chinese) (王上飞,王煦法.基于大脑情感回路的人工情感智能模型.模式识别与人工智能,2007,20(2): 167-172 )
[19]  Skinner B F.The Behavior of Organisms.New York,USA: Appleton-Century Appleton-Century-Crofts,1938
[20]  Pavlov I P.Conditioned Reflexes.Oxford,UK: Oxford University Press,1927
[21]  Brembs B.Research: Neurobiology of Behavior [EB/OL].[2010-06-01].http://brembs.net
[22]  Brembs B,Plendl W.Double Dissociation of PKC and AC Manipulations on Operant and Classical Learning in Drosophila.Current Biology,2008,18(15): 1168-1171
[23]  Brembs B.The Importance of Being Active.Journal of Neurogenetics,2009,23(1/2): 120-126
[24]  Zalama E,Gomez J,Paul M,et al.Adaptive Behavior Navigation of a Mobile Robot.IEEE Trans on Systems,Man and Cybernetics,2002,32(1): 160-169
[25]  Itoh K,Miwa H,Matsumoto M,et al,Behavior Model of Humanoid Robots Based on Operant Conditioning // Proc of the IEEE/RAS International Conference on Humanoid Robots.Tsukuba,Japan,2005: 220-225
[26]  Yao Chengwei,Chen Gencai.A Emotion Development Agent Model Based on OCC Model and Operant Conditioning // Proc of the International Conference on Info-Tech and Info-Net.Beijing,China,2001,III: 246-250
[27]  Hoshi E,Tremblay L,Féger J,et al.The Cerebellum Communicates with the Basal Ganglia.Nature Neuroscience,2005,8(11): 1491-1493
[28]  Bostan A C,Dum R P,Strick P L.The Basal Ganglia Communicate with the Cerebellum.Proc of the National Academy of Sciences of the United States of America,2010,107(18): 8452-8456
[29]  Bostan A C,Strick P L.The Cerebellum and Basal Ganglia Are Interconnected.Neuropsychology Review,2010,20(3): 261-270
[30]  Wang Yecang,Yung N H C,Wang Danwei.A Fuzzy Controller with Supervised Learning Assisted Reinforcement Learning Algorithm for Obstacle Avoidance.IEEE Trans on Systems,Man and Cybernetics,2003,33(1): 17-27
[31]  Joo M Er,Deng Chang.Obstacle Avoidance of a Mobile Robot Using Hybrid Learning Approach.IEEE Trans on Industrial Electronics,2005,52(3): 898-905

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133