Robustness of connectionist swimming controllers against random variation in neural connections.

Abstract:

:The ability to achieve high swimming speed and efficiency is very important to both the real lamprey and its robotic implementation. In previous studies, we used evolutionary algorithms to evolve biologically plausible connectionist swimming controllers for a simulated lamprey. This letter investigates the robustness and optimality of the best-evolved controllers as well as the biological controller hand-crafted by Ekeberg. Comparing cases of random variation in intrasegmental or intersegmental weights against each controller allows estimates of robustness to be made. We conduct experiments on the controllers' robustness at the excitation level, which corresponds to either the maximum swimming speed or efficiency by randomly varying the segmental connection weights and on some occasions also the intersegmental couplings, through varying noise ranges. Interestingly, although the swimming performance (in terms of maximum speed and efficiency) of the Ekeberg biological controller is not as good as that of the artificially evolved controllers, it is relatively robust against noise in the neural networks. This suggests that the natural evolutions have evolved a swimming controller that is good enough to survive in the real world. Our findings could inspire neurobiologists to conduct real physiological experiments to gain a better understanding on how neural connectivity affects behavior. The results can also be applied to control an artificial lamprey in simulation and possibly also a robotic one.

journal_name

Neural Comput

journal_title

Neural computation

authors

Or J

doi

10.1162/neco.2007.19.6.1568

subject

Has Abstract

pub_date

2007-06-01 00:00:00

pages

1568-88

issue

6

eissn

0899-7667

issn

1530-888X

journal_volume

19

pub_type

杂志文章
  • Neural coding: higher-order temporal patterns in the neurostatistics of cell assemblies.

    abstract::Recent advances in the technology of multiunit recordings make it possible to test Hebb's hypothesis that neurons do not function in isolation but are organized in assemblies. This has created the need for statistical approaches to detecting the presence of spatiotemporal patterns of more than two neurons in neuron sp...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/089976600300014872

    authors: Martignon L,Deco G,Laskey K,Diamond M,Freiwald W,Vaadia E

    更新日期:2000-11-01 00:00:00

  • Multispike interactions in a stochastic model of spike-timing-dependent plasticity.

    abstract::Recently we presented a stochastic, ensemble-based model of spike-timing-dependent plasticity. In this model, single synapses do not exhibit plasticity depending on the exact timing of pre- and postsynaptic spikes, but spike-timing-dependent plasticity emerges only at the temporal or synaptic ensemble level. We showed...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/neco.2007.19.5.1362

    authors: Appleby PA,Elliott T

    更新日期:2007-05-01 00:00:00

  • A first-order nonhomogeneous Markov model for the response of spiking neurons stimulated by small phase-continuous signals.

    abstract::We present a first-order nonhomogeneous Markov model for the interspike-interval density of a continuously stimulated spiking neuron. The model allows the conditional interspike-interval density and the stationary interspike-interval density to be expressed as products of two separate functions, one of which describes...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/neco.2009.06-07-548

    authors: Tapson J,Jin C,van Schaik A,Etienne-Cummings R

    更新日期:2009-06-01 00:00:00

  • Connecting cortical and behavioral dynamics: bimanual coordination.

    abstract::For the paradigmatic case of bimanual coordination, we review levels of organization of behavioral dynamics and present a description in terms of modes of behavior. We briefly review a recently developed model of spatiotemporal brain activity that is based on short- and long-range connectivity of neural ensembles. Thi...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/089976698300016954

    authors: Jirsa VK,Fuchs A,Kelso JA

    更新日期:1998-11-15 00:00:00

  • Generalization and selection of examples in feedforward neural networks.

    abstract::In this work, we study how the selection of examples affects the learning procedure in a boolean neural network and its relationship with the complexity of the function under study and its architecture. We analyze the generalization capacity for different target functions with particular architectures through an analy...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/089976600300014999

    authors: Franco L,Cannas SA

    更新日期:2000-10-01 00:00:00

  • A hierarchical dynamical map as a basic frame for cortical mapping and its application to priming.

    abstract::A hierarchical dynamical map is proposed as the basic framework for sensory cortical mapping. To show how the hierarchical dynamical map works in cognitive processes, we applied it to a typical cognitive task known as priming, in which cognitive performance is facilitated as a consequence of prior experience. Prior to...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/08997660152469341

    authors: Hoshino O,Inoue S,Kashimori Y,Kambara T

    更新日期:2001-08-01 00:00:00

  • Reinforcement learning in continuous time and space.

    abstract::This article presents a reinforcement learning framework for continuous-time dynamical systems without a priori discretization of time, state, and action. Based on the Hamilton-Jacobi-Bellman (HJB) equation for infinite-horizon, discounted reward problems, we derive algorithms for estimating value functions and improv...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/089976600300015961

    authors: Doya K

    更新日期:2000-01-01 00:00:00

  • MISEP method for postnonlinear blind source separation.

    abstract::In this letter, a standard postnonlinear blind source separation algorithm is proposed, based on the MISEP method, which is widely used in linear and nonlinear independent component analysis. To best suit a wide class of postnonlinear mixtures, we adapt the MISEP method to incorporate a priori information of the mixtu...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/neco.2007.19.9.2557

    authors: Zheng CH,Huang DS,Li K,Irwin G,Sun ZL

    更新日期:2007-09-01 00:00:00

  • Gaussian process approach to spiking neurons for inhomogeneous Poisson inputs.

    abstract::This article presents a new theoretical framework to consider the dynamics of a stochastic spiking neuron model with general membrane response to input spike. We assume that the input spikes obey an inhomogeneous Poisson process. The stochastic process of the membrane potential then becomes a gaussian process. When a ...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/089976601317098529

    authors: Amemori KI,Ishii S

    更新日期:2001-12-01 00:00:00

  • Change-based inference in attractor nets: linear analysis.

    abstract::One standard interpretation of networks of cortical neurons is that they form dynamical attractors. Computations such as stimulus estimation are performed by mapping inputs to points on the networks' attractive manifolds. These points represent population codes for the stimulus values. However, this standard interpret...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/NECO_a_00051

    authors: Moazzezi R,Dayan P

    更新日期:2010-12-01 00:00:00

  • The neuronal replicator hypothesis.

    abstract::We propose that replication (with mutation) of patterns of neuronal activity can occur within the brain using known neurophysiological processes. Thereby evolutionary algorithms implemented by neuro- nal circuits can play a role in cognition. Replication of structured neuronal representations is assumed in several cog...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/NECO_a_00031

    authors: Fernando C,Goldstein R,Szathmáry E

    更新日期:2010-11-01 00:00:00

  • Normalization enables robust validation of disparity estimates from neural populations.

    abstract::Binocular fusion takes place over a limited region smaller than one degree of visual angle (Panum's fusional area), which is on the order of the range of preferred disparities measured in populations of disparity-tuned neurons in the visual cortex. However, the actual range of binocular disparities encountered in natu...

    journal_title:Neural computation

    pub_type: 信件

    doi:10.1162/neco.2008.05-07-532

    authors: Tsang EK,Shi BE

    更新日期:2008-10-01 00:00:00

  • Methods for combining experts' probability assessments.

    abstract::This article reviews statistical techniques for combining multiple probability distributions. The framework is that of a decision maker who consults several experts regarding some events. The experts express their opinions in the form of probability distributions. The decision maker must aggregate the experts' distrib...

    journal_title:Neural computation

    pub_type: 杂志文章,评审

    doi:10.1162/neco.1995.7.5.867

    authors: Jacobs RA

    更新日期:1995-09-01 00:00:00

  • Spiking neural P systems with weights.

    abstract::A variant of spiking neural P systems with positive or negative weights on synapses is introduced, where the rules of a neuron fire when the potential of that neuron equals a given value. The involved values-weights, firing thresholds, potential consumed by each rule-can be real (computable) numbers, rational numbers,...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/NECO_a_00022

    authors: Wang J,Hoogeboom HJ,Pan L,Păun G,Pérez-Jiménez MJ

    更新日期:2010-10-01 00:00:00

  • Variations on the Theme of Synaptic Filtering: A Comparison of Integrate-and-Express Models of Synaptic Plasticity for Memory Lifetimes.

    abstract::Integrate-and-express models of synaptic plasticity propose that synapses integrate plasticity induction signals before expressing synaptic plasticity. By discerning trends in their induction signals, synapses can control destabilizing fluctuations in synaptic strength. In a feedforward perceptron framework with binar...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/NECO_a_00889

    authors: Elliott T

    更新日期:2016-11-01 00:00:00

  • Feature selection in simple neurons: how coding depends on spiking dynamics.

    abstract::The relationship between a neuron's complex inputs and its spiking output defines the neuron's coding strategy. This is frequently and effectively modeled phenomenologically by one or more linear filters that extract the components of the stimulus that are relevant for triggering spikes and a nonlinear function that r...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/neco.2009.02-09-956

    authors: Famulare M,Fairhall A

    更新日期:2010-03-01 00:00:00

  • Learning object representations using a priori constraints within ORASSYLL.

    abstract::In this article, a biologically plausible and efficient object recognition system (called ORASSYLL) is introduced, based on a set of a priori constraints motivated by findings of developmental psychology and neurophysiology. These constraints are concerned with the organization of the input in local and corresponding ...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/089976601300014583

    authors: Krüger N

    更新日期:2001-02-01 00:00:00

  • ParceLiNGAM: a causal ordering method robust against latent confounders.

    abstract::We consider learning a causal ordering of variables in a linear nongaussian acyclic model called LiNGAM. Several methods have been shown to consistently estimate a causal ordering assuming that all the model assumptions are correct. But the estimation results could be distorted if some assumptions are violated. In thi...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/NECO_a_00533

    authors: Tashiro T,Shimizu S,Hyvärinen A,Washio T

    更新日期:2014-01-01 00:00:00

  • Temporal sequence learning, prediction, and control: a review of different models and their relation to biological mechanisms.

    abstract::In this review, we compare methods for temporal sequence learning (TSL) across the disciplines machine-control, classical conditioning, neuronal models for TSL as well as spike-timing-dependent plasticity (STDP). This review introduces the most influential models and focuses on two questions: To what degree are reward...

    journal_title:Neural computation

    pub_type: 杂志文章,评审

    doi:10.1162/0899766053011555

    authors: Wörgötter F,Porr B

    更新日期:2005-02-01 00:00:00

  • A graphical model framework for decoding in the visual ERP-based BCI speller.

    abstract::We present a graphical model framework for decoding in the visual ERP-based speller system. The proposed framework allows researchers to build generative models from which the decoding rules are obtained in a straightforward manner. We suggest two models for generating brain signals conditioned on the stimulus events....

    journal_title:Neural computation

    pub_type: 信件

    doi:10.1162/NECO_a_00066

    authors: Martens SM,Mooij JM,Hill NJ,Farquhar J,Schölkopf B

    更新日期:2011-01-01 00:00:00

  • Spike train decoding without spike sorting.

    abstract::We propose a novel paradigm for spike train decoding, which avoids entirely spike sorting based on waveform measurements. This paradigm directly uses the spike train collected at recording electrodes from thresholding the bandpassed voltage signal. Our approach is a paradigm, not an algorithm, since it can be used wit...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/neco.2008.02-07-478

    authors: Ventura V

    更新日期:2008-04-01 00:00:00

  • Computing with self-excitatory cliques: A model and an application to hyperacuity-scale computation in visual cortex.

    abstract::We present a model of visual computation based on tightly inter-connected cliques of pyramidal cells. It leads to a formal theory of cell assemblies, a specific relationship between correlated firing patterns and abstract functionality, and a direct calculation relating estimates of cortical cell counts to orientation...

    journal_title:Neural computation

    pub_type: 杂志文章,评审

    doi:10.1162/089976699300016782

    authors: Miller DA,Zucker SW

    更新日期:1999-01-01 00:00:00

  • Connection topology selection in central pattern generators by maximizing the gain of information.

    abstract::A study of a general central pattern generator (CPG) is carried out by means of a measure of the gain of information between the number of available topology configurations and the output rhythmic activity. The neurons of the CPG are chaotic Hindmarsh-Rose models that cooperate dynamically to generate either chaotic o...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/neco.2007.19.4.974

    authors: Stiesberg GR,Reyes MB,Varona P,Pinto RD,Huerta R

    更新日期:2007-04-01 00:00:00

  • Downstream Effect of Ramping Neuronal Activity through Synapses with Short-Term Plasticity.

    abstract::Ramping neuronal activity refers to spiking activity with a rate that increases quasi-linearly over time. It has been observed in multiple cortical areas and is correlated with evidence accumulation processes or timing. In this work, we investigated the downstream effect of ramping neuronal activity through synapses t...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/NECO_a_00818

    authors: Wei W,Wang XJ

    更新日期:2016-04-01 00:00:00

  • Supervised learning in a recurrent network of rate-model neurons exhibiting frequency adaptation.

    abstract::For gradient descent learning to yield connectivity consistent with real biological networks, the simulated neurons would have to include more realistic intrinsic properties such as frequency adaptation. However, gradient descent learning cannot be used straightforwardly with adapting rate-model neurons because the de...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/0899766054323017

    authors: Fortier PA,Guigon E,Burnod Y

    更新日期:2005-09-01 00:00:00

  • Long-term reward prediction in TD models of the dopamine system.

    abstract::This article addresses the relationship between long-term reward predictions and slow-timescale neural activity in temporal difference (TD) models of the dopamine system. Such models attempt to explain how the activity of dopamine (DA) neurons relates to errors in the prediction of future rewards. Previous models have...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/089976602760407973

    authors: Daw ND,Touretzky DS

    更新日期:2002-11-01 00:00:00

  • Linking Neuromodulated Spike-Timing Dependent Plasticity with the Free-Energy Principle.

    abstract::The free-energy principle is a candidate unified theory for learning and memory in the brain that predicts that neurons, synapses, and neuromodulators work in a manner that minimizes free energy. However, electrophysiological data elucidating the neural and synaptic bases for this theory are lacking. Here, we propose ...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/NECO_a_00862

    authors: Isomura T,Sakai K,Kotani K,Jimbo Y

    更新日期:2016-09-01 00:00:00

  • Accelerated spike resampling for accurate multiple testing controls.

    abstract::Controlling for multiple hypothesis tests using standard spike resampling techniques often requires prohibitive amounts of computation. Importance sampling techniques can be used to accelerate the computation. The general theory is presented, along with specific examples for testing differences across conditions using...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/NECO_a_00399

    authors: Harrison MT

    更新日期:2013-02-01 00:00:00

  • Clustering based on gaussian processes.

    abstract::In this letter, we develop a gaussian process model for clustering. The variances of predictive values in gaussian processes learned from a training data are shown to comprise an estimate of the support of a probability density function. The constructed variance function is then applied to construct a set of contours ...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/neco.2007.19.11.3088

    authors: Kim HC,Lee J

    更新日期:2007-11-01 00:00:00

  • Dissociable forms of repetition priming: a computational model.

    abstract::Nondeclarative memory and novelty processing in the brain is an actively studied field of neuroscience, and reducing neural activity with repetition of a stimulus (repetition suppression) is a commonly observed phenomenon. Recent findings of an opposite trend-specifically, rising activity for unfamiliar stimuli-questi...

    journal_title:Neural computation

    pub_type: 杂志文章

    doi:10.1162/NECO_a_00569

    authors: Makukhin K,Bolland S

    更新日期:2014-04-01 00:00:00