Biomedical subjects

Wolfram Erlhagen

Publications and source records attributed to Wolfram Erlhagen.

6 recordsLinked to original sources

PubMed2006

The dynamic neural field approach to cognitive robotics.

This tutorial presents an architecture for autonomous robots to generate behavior in joint action tasks. To efficiently interact with another agent in solving a mutual task, a robot should be endowed with cognitive skills such as memory, decision making, action understanding and prediction. The proposed architecture is strongly inspired by our current understanding of the processing principles and the neuronal circuitry underlying these functionalities in the primate brain. As a mathematical framework, we use a coupled system of dynamic neural fields, each representing the basic functionality of neuronal populations in different brain areas. It implements goal-directed behavior in joint action as a continuous process that builds on the interpretation of observed movements in terms of the partner's action goal. We validate the architecture in two experimental paradigms: (1) a joint search task; (2) a reproduction of an observed or inferred end state of a grasping-placing sequence. We also review some of the mathematical results about dynamic neural fields that are important for the implementation work.

Animals↗

PubMed2006

Goals and means in action observation: a computational approach.

Many of our daily activities are supported by behavioural goals that guide the selection of actions, which allow us to reach these goals effectively. Goals are considered to be important for action observation since they allow the observer to copy the goal of the action without the need to use the exact same means. The importance of being able to use different action means becomes evident when the observer and observed actor have different bodies (robots and humans) or bodily measurements (parents and children), or when the environments of actor and observer differ substantially (when an obstacle is present or absent in either environment). A selective focus on the action goals instead of the action means furthermore circumvents the need to consider the vantage point of the actor, which is consistent with recent findings that people prefer to represent the actions of others from their own individual perspective. In this paper, we use a computational approach to investigate how knowledge about action goals and means are used in action observation. We hypothesise that in action observation human agents are primarily interested in identifying the goals of the observed actor's behaviour. Behavioural cues (e.g. the way an object is grasped) may help to disambiguate the goal of the actor (e.g. whether a cup is grasped for drinking or handing it over). Recent advances in cognitive neuroscience are cited in support of the model's architecture.

Attention↗

PubMed2006

A dynamic model for action understanding and goal-directed imitation.

The understanding of other individuals' actions is a fundamental cognitive skill for all species living in social groups. Recent neurophysiological evidence suggests that an observer may achieve the understanding by mapping visual information onto his own motor repertoire to reproduce the action effect. However, due to differences in embodiment, environmental constraints or motor skills, this mapping very often cannot be direct. In this paper, we present a dynamic network model which represents in its layers the functionality of neurons in different interconnected brain areas known to be involved in action observation/execution tasks. The model aims at substantiating the idea that action understanding is a continuous process which combines sensory evidence, prior task knowledge and a goal-directed matching of action observation and action execution. The model is tested in variations of an imitation task in which an observer with dissimilar embodiment tries to reproduce the perceived or inferred end-state of a grasping-placing sequence. We also propose and test a biologically plausible learning scheme which allows establishing during practice a goal-directed organization of the distributed network. The modeling results are discussed with respect to recent experimental findings in action observation/execution studies.

Action Potentials↗

PubMed2004

Shorter latencies for motion trajectories than for flashes in population responses of cat primary visual cortex.

Psychophysical evidence in humans indicates that localization is different for stationary flashed and coherently moving objects. To address how the primary visual cortex represents object position we used a population approach that pools spiking activity of many neurones in cat area 17. In response to flashed stationary squares (0.4 deg) we obtained localized activity distributions in visual field coordinates, which we referred to as profiles across a 'population receptive field' (PRF). We here show how motion trajectories can be derived from activity across the PRF and how the representation of moving and flashed stimuli differs in position. We found that motion was represented by peaks of population activity that followed the stimulus with a speed-dependent lag. However, time-to-peak latencies were shorter by approximately 16 ms compared to the population responses to stationary flashes. In addition, motion representation showed a directional bias, as latencies were more reduced for peripheral-to-central motion compared to the opposite direction. We suggest that a moving stimulus provides 'preactivation' that allows more rapid processing than for a single flash event.

Action Potentials↗

PubMed2003

Internal models for visual perception.

Although the extrapolation of past perceptual history into the immediate and distant future is a fundamental phenomenon in everyday life, the underlying processing mechanisms are not well understood. A network model consisting of interacting excitatory and inhibitory cell populations coding for stimulus position is used to study the neuronal population response to a continuously moving stimulus. An adaptation mechanism is proposed that offers the possibility to control and modulate motion-induced extrapolation without changing the spatial interaction structure within the network. Using an occluder paradigm, functional advantages of an internally generated model of a moving stimulus are discussed. It is shown that the integration of such a model in processing leads to a faster and more reliable recognition of the input stream and allows for object permanence following occlusion. The modeling results are discussed in relation to recent experimental findings that show motion-induced extrapolation.

Neural Networks, Computer↗

PubMed2002

Dynamic field theory of movement preparation.

A theoretical framework for understanding movement preparation is proposed. Movement parameters are represented by activation fields, distributions of activation defined over metric spaces. The fields evolve under the influence of various sources of localized input, representing information about upcoming movements. Localized patterns of activation self-stabilize through cooperative and competitive interactions within the fields. The task environment is represented by a 2nd class of fields, which preshape the movement parameter representation. The model accounts for a sizable body of empirical findings on movement initiation (continuous and graded nature of movement preparation, dependence on the metrics of the task, stimulus uncertainty effect, stimulus-response compatibility effects, Simon effect, precuing paradigm, and others) and suggests new ways of exploring the structure of motor representations.

Humans↗