Tunable Neural Encoding of a Symbolic Robotic Manipulation Algorithm.

We present a neurocomputational controller for robotic manipulation based on the recently developed "neural virtual machine" (NVM). The NVM is a purely neural recurrent architecture that emulates a Turing-complete, purely symbolic virtual machine. We program the NVM with a symbolic algorithm that solves blocks-world restacking problems, and execute it in a robotic simulation environment.

NeuroLISP: High-level symbolic programming with attractor neural networks.

Despite significant improvements in contemporary machine learning, symbolic methods currently outperform artificial neural networks on tasks that involve compositional reasoning, such as goal-directed planning and logical inference. This illustrates a computational explanatory gap between cognitive and neurocomputational algorithms that obscures the neurobiological mechanisms underlying cognition and impedes progress toward human-level artificial intelligence. Because of the strong relationship between cognition and working memory control, we suggest that the cognitive abilities of contemporary neural networks are limited by biologically-implausible working memory systems that rely on persistent activity maintenance and/or temporal nonlocality.

Compositional memory in attractor neural networks with one-step learning.

Compositionality refers to the ability of an intelligent system to construct models out of reusable parts. This is critical for the productivity and generalization of human reasoning, and is considered a necessary ingredient for human-level artificial intelligence. While traditional symbolic methods have proven effective for modeling compositionality, artificial neural networks struggle to learn systematic rules for encoding generalizable structured models.

A programmable neural virtual machine based on a fast store-erase learning rule.

We present a neural architecture that uses a novel local learning rule to represent and execute arbitrary, symbolic programs written in a conventional assembly-like language. This Neural Virtual Machine (NVM) is purely neurocomputational but supports all of the key functionality of a traditional computer architecture. Unlike other programmable neural networks, the NVM uses principles such as fast non-iterative local learning, distributed representation of information, program-independent circuitry, itinerant attractor dynamics, and multiplicative gating for both activity and plasticity.

Fronto-parietal mirror neuron system modeling: Visuospatial transformations support imitation learning independently of imitator perspective.

Although the human mirror neuron system (MNS) is critical for action observation and imitation, most MNS investigations overlook the visuospatial transformation processes that allow individuals to interpret and imitate actions observed from differing perspectives. This problem is not trivial since accurately reaching for and grasping an object requires a visuospatial transformation mechanism capable of precisely remapping fine motor skills where the observer's and imitator's arms and hands may have quite different orientations and sizes. Accordingly, here we describe a novel neural model to investigate the dynamics between the fronto-parietal MNS and visuospatial processes during observation and imitation of a reaching and grasping action.