a computational approach to behavior - machines · california gull vs. alkali fly (larus...
TRANSCRIPT
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A computational Approach to Behavior
Pietro Perona California Institute of Technology
26 March 2017 AAAI Symposium on
``Computational Principles of Natural and Artificial Intelligence’’ Stanford University
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California gull vs. alkali fly (Larus californicus vs Ephydra hians)
Mono Lake, CA 37°58’50.6”N, 119°06'33.4"W
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environment
development, regulation
decision, control
perception learning
natl. selection gene expression
genes
behavior
brain+ body
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environment
construction
decision, control
perception learning
analysis of performance
design
behavior
HW+ SW
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What is `behavior’?
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6
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Zidane in a dish
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Courtship in Drosophila
Marla B. SokolowskiNature Reviews Genetics 2, 879-892
(2001)
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Phenomenology: many scales
1 frame
1 second
1 minute
1 hour
1 day
10 pix 100 pix 1000 pix
mov
emes
actio
nsac
tiviti
es
step reach glance
walk
hike
have drink
dine flirt
court
write `A’open door
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Parametrization
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[Eyjolfsdottir, 2014]
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Ethograms
[Dankert et al., Nature Methods, April 2009]
by hand it would have taken (20+24+10)*1/3 * 3 * 7 = 400h
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Levels of enlightenment
• Description
• Phenomena
• Mechanisms
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FINDING AGGRESSION NEURONS IN THE FLY
X
warmth-sensitiveion channel
hyperaggressive?
LIBRARIES OF Drosophila STRAINS WITH DIFFERENT GENETICALLY LABELED POPULATIONS
OF NEURONS
⨁⨁
⨁⨁
⨁⨁
27oC
X=ion channel
gene
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Analysis by synthesis
[Braitenberg, 1984]
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images, trajectories
pose, movemes, actions, activities, objects, scenes
plans, goals, behavior, relationships ...
group-level goals and plans
individual goals and plans
motor programs
sensor-based control
IMAGING,TRACKING
RECOGNITION
COGNITION
SOCIAL NETWORK
PREFRONTAL CORTEX
MOTOR CORTEX, BASAL GANGLIA etc.
SPINAL CORD
SENSO
RYR
EPRESEN
TATIO
NA
LM
OTO
RPL
AN
NIN
GAction Perception
World
INDIVIDUAL
interaction, cooperation, competition
SOCIAL INTERACTION
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Levels of analysis• Description
• Phenomena
• Grammar
• Purpose
• Mechanisms
• Performance
• Ontogeny
• Phylogeny
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From phenomena to mechanisms:
a simple example
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[Branson et al. Nature Methods, Jun. ’09]
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[Branson et al. Nature Methods, Jun. ’09]
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‘T-Stops’
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‘X-Stops’
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Wang et al. 2003.
An engineers’ solution
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Try implementing it with 105 neurons
http://www.news.wisc.edu/newsphotos/images/fruit_fly_research03_6801.JPG
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Regressive motion
↵�
�
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[Zabala ’12]
Experiment
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[Chalupka ’15]
Model
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Regressive Looming
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Levels of enlightenment• Description - fly trajectories
• Phenomena - stops, chases, … (actions)
• Grammar - T-stops,X-stops, (interactions)
• Purpose - Avoid predation and collisions
• Mechanisms - regressive motion(implem.?)
• Performance - Mobility,safety
• Ontogeny - Learning??
• Phylogeny - ??
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Mechanism inference
[Eyjolfsdottir 2016,2017]
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Fly-centric features
v: sensory inputx: motor control
len
w-len
w-ang
fwd
sideyaw
flieswalls
reproduce
eat fight
escapeh
v
x
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h1i^
h2i+1^h2i
^
h1i+1^
xi+1^
h2i-1^
h1i-1^
xi-1^ xi
^
generative
Model architecture
Simulation:- prediction as input- compute vi on the fly
… …
h1i+1
h2i+1
vi-1 xi-1
vi xi
vi+1 xi+1
h1i
h2i
h1i-1
h2i-1
yi
yi^discriminative
h2i+1^
h1i+1^
xi+1^
vi xi
h1i
h2i
yi
yi^
yi
yi^
[Eyjolfsdottir 2016,2017]
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Sanity check: learning on a synthetic fly
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Control laws:1) walk forward with small randomness
2) rotate when close to boundary(away from higher visibility)
3) walk towards obstacle, when visible
4) extend wing when half way towards it
5) rotate when close to obstacle(alternate between left and right)
6) repeat from 1)
obstacle visible
Can the model learn generative control laws?
SynthFly Simulation
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0 100 200 300 400 500 600 700 800 900 1000-2
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0 100 200 300 400 500 600 700 800 900 10000
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0 100 200 300 400 500 600 700 800 900 10000
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0 100 200 300 400 500 600 700 800 900 10000
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0 100 200 300 400 500 600 700 800 900 10000
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400
500
600
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0 100 200 300 400 500 600 700 800 900 1000-1
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0 100 200 300 400 500 600 700 800 900 1000-1.5
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0 100 200 300 400 500 600 700 800 900 10000
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400
500
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0 100 200 300 400 500 600 700 800 900 1000-1
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distance to object
r l r l r l r l r l r l r l r l r
left/right wing angle
hidden unit 91
hidden unit 175
synthetic fly simulation
time timeturn
Interesting units
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Classification
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Discovery
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Discovery: FlyBowl
tSNE dimensionality reductionfemale male right wing extension left wing extension
hli: hidden states of unsupervised model
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Discovery: IAM-OnDB
stroke length writer identity
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Prediction
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Simulation
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Simulation: FlyBowl
fly visionchamber vision
![Page 55: A computational Approach to Behavior - Machines · California gull vs. alkali fly (Larus californicus vs Ephydra hians) Mono Lake, CA 37°58’50.6”N, 119°06'33.4"W](https://reader033.vdocument.in/reader033/viewer/2022060306/5f098da67e708231d4276112/html5/thumbnails/55.jpg)
simulated real
Simulation: FlyBowl
![Page 56: A computational Approach to Behavior - Machines · California gull vs. alkali fly (Larus californicus vs Ephydra hians) Mono Lake, CA 37°58’50.6”N, 119°06'33.4"W](https://reader033.vdocument.in/reader033/viewer/2022060306/5f098da67e708231d4276112/html5/thumbnails/56.jpg)
Simulation - handwriting
“e”
“s”
“r”
generated text character injectionsoriginal text “activate”
![Page 57: A computational Approach to Behavior - Machines · California gull vs. alkali fly (Larus californicus vs Ephydra hians) Mono Lake, CA 37°58’50.6”N, 119°06'33.4"W](https://reader033.vdocument.in/reader033/viewer/2022060306/5f098da67e708231d4276112/html5/thumbnails/57.jpg)
Summary• Brains, behavior and intelligence
• Description
• Phenomena
• Mechanisms
• Relationship with AI?
![Page 58: A computational Approach to Behavior - Machines · California gull vs. alkali fly (Larus californicus vs Ephydra hians) Mono Lake, CA 37°58’50.6”N, 119°06'33.4"W](https://reader033.vdocument.in/reader033/viewer/2022060306/5f098da67e708231d4276112/html5/thumbnails/58.jpg)
Collaborators
Kristin Branson
HeikoDankert
David Anderson Michael Dickinson
+Carlos Gonzalez
Shay OhayonRoian Egnor
Michael MaireJohn BenderTim LebestkyAlice Robie
Erik Hoopfer
Xavi Burgos
PiotrDollar
EyrúnEyjólfsdóttir
CristinaSegalin
Grant van Horn