相关论文: Bridging Cognitive Maps: a Hierarchical Active Inf…
Cognitive maps play a crucial role in facilitating flexible behaviour by representing spatial and conceptual relationships within an environment. The ability to learn and infer the underlying structure of the environment is crucial for…
Cognitive maps play a crucial role in facilitating flexible behaviour by representing spatial and conceptual relationships within an environment. The ability to learn and infer the underlying structure of the environment is crucial for…
Memory is inherently entangled with prediction and planning. Flexible behavior in biological and artificial agents depends on the interplay of learning from the past and predicting the future in ever-changing environments. This chapter…
The brain has a great capacity for computation and efficient resolution of complex problems, far surpassing modern computers. Neuromorphic engineering seeks to mimic the basic principles of the brain to develop systems capable of achieving…
The spiking activity of principal cells in mammalian hippocampus encodes an internalized neuronal representation of the ambient space---a cognitive map. Once learned, such a map enables the animal to navigate a given environment for a long…
Probabilistic inference offers a principled framework for understanding both behaviour and cortical computation. However, two basic and ubiquitous properties of cortical responses seem difficult to reconcile with probabilistic inference:…
Active inference, a neurally-inspired model for inferring actions based on the free energy principle (FEP), has been proposed as a unifying framework for understanding perception, action, and learning in the brain. Active inference has…
Many tasks require flexibly modifying perception and behavior based on current goals. Humans can retrieve episodic memories from days to years ago, using them to contextualize and generalize behaviors across novel but structurally related…
In the realm of heterogeneous mixed autonomy, vehicles experience dynamic spatial correlations and nonlinear temporal interactions in a complex, non-Euclidean space. These complexities pose significant challenges to traditional…
Cognitive maps are a proposed concept on how the brain efficiently organizes memories and retrieves context out of them. The entorhinal-hippocampal complex is heavily involved in episodic and relational memory processing, as well as spatial…
Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the…
It is now widely accepted that one of the roles of the hippocampus is to maintain episodic spatial representations, while parallel striatal pathways contribute to both declarative and procedural value computations by encoding different…
In cognitive science, behaviour is often separated into two types. Reflexive control is habitual and immediate, whereas reflective is deliberative and time consuming. We examine the argument that Hierarchical Predictive Coding (HPC) can…
Humans abstract experiences into structured representations to facilitate pattern inference and knowledge transfer. While the hippocampal-entorhinal (HPC-MEC) circuit is known to represent both spatial and conceptual spaces, the mechanisms…
As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion is not solely dependent on consistent motion generation but…
The hippocampus supports spatial navigation by encoding cognitive maps through collective place cell activity. We model the place cell population as non-negative spatial embeddings derived from the spectral decomposition of multi-step…
Efficient path planning and navigation is critical for animals, robotics, logistics and transportation. We study a model in which spatial navigation problems can rapidly be solved in the brain by parallel mental exploration of alternative…
The brain achieves stability and plasticity in a topologically complex, shifting world through Metric-Topology Factorization (MTF), separating discrete topological indexing for context selection from continuous metric condensation for local…
In this paper we explain the strikingly regular activity of the 'grid' cells in rodent dorsal medial entorhinal cortex (dMEC) and the spatially localized activity of the hippocampal place cells in CA3 and CA1 by assuming that the…
Humans are expert explorers. Understanding the computational cognitive mechanisms that support this efficiency can advance the study of the human mind and enable more efficient exploration algorithms. We hypothesize that humans explore new…