ijcnn 2013 panel in higher emotion 1 emotion in brain-inspired developmental networks juyang (john)...

IJCNN 2013 Panel in Higher Emotion 1

Emotion in Brain-Inspired Developmental Networks

Juyang (John) WengComputer Sci., Neurosci., Cognitive Sci.

Michigan State UniversityEast Lansing, MI 49924 USA

weng@cse.msu.edu

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Patterns of Communication(a) Point to Point(b) Release hormones into blood

(c) Autonomic nervous system;(d) Diffuse modulatory systems

Beart, Connors & Paradiso 2007

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Major Neurotransmitters

Beart, Connors & Paradiso 2007

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BMI 831Cognitive Science

for Brain-Mind ResearchLecturer:

Juyang Weng

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BMI 871Introduction to Computational

Brain-Mind Lecturer:

Juyang Weng

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Motivation/emotion in the Brain Motivational system in the brain:

biological causality for the development of emotion Lower (physiology) emotion:

Arousal: noradrenaline, oxytocin, cortisol Habituation sensitization, familiarization

(acetylcholine and norepinephrine systems) Pain avoidance (serotonin system) Pleasure seeking (dopamine system)

Basic emotion: angry, happy, sad, scared, disgust, etc. Higher emotion: moods, dispositions (e.g., jealousy)

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Neuromodulatory Systems

Jeff Krichmar, AB, 2008

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Quiz: Why Modulations

Quiz: The main purpose of modulatory systems is:A. Animal likeB. Establish bounds with

humanC. Look intelligentD. Speed-up learningE. Being quick to fight or

flee

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Quiz: Why Modulations

Quiz: The main purpose of modulatory systems is:A. Animal likeB. Establish bounds with

humanC. Look intelligentD. Speed-up learningE. Being quick to fight or

flee

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Why Motivation? Evolution: Pressure of survival Understanding of the environment should not be

the primary goal of a life Fruit flies, Rats, Humans

Sexual selection: survival is not sufficient Males: Fight with males, court with females Females: Select the male winners

Motivation: quick ways to sense a variety of values Neuromodulators, diffused transmission

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In the blind, visual cortex is reassigned to audition and touch.

Therefore, we chose not to statically model brain areas! Brain areas should emerge

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Motivation: Architectural Concepts

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Symbolic Value Systems Sutton & Barto 1981:

reward as positive values Delayed rewards

Ogmen 1997: Punishments, rewards, novelty Sporns et al. 1999: Darwin robot Kakade & Dayan 2002: novelty and shaping Oudeyer et al. 2007: error max; progress max; similarity-

based progress maximization Huang & Weng 2007: punishment, reward, novelty Cox & Krichmar 2009: Neuromodulation as a robot controller Singh et al. 2010: reward and evolution

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Symbolic: Q-Learning

Symbolic reinforcement learning No need for state transition probability

Value driven Does not allow state inconsistency

Future value estimation for delayed rewards Time discount model: state-action value:

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Q-Learning Limitations

Symbolic: Exponential number of states, static Brittle

Fixed, greedy value function: Immediate rewards are preferred

Does not allow perception Does not allow creativity for other non-

modeled concepts

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Theory: For Any AFA There Is a GDN

Weng IJCNN 2010

GDN: GenerativeDevelopmental Network

AFA: Agent Finite Automaton

Marvin Minsky criticized ANNs

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Emergent: 5-HT & DA Systems Blue: 5-HT system Red: DA system Mechanism 1 (extra cell):

Mechanism 2 (within cell):zip increases the threshold Tzis reduces the threshold TIf pre-action > T, fire

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5-HT, DA, Ach, NE

Serotonin (5-HT): pain, stress, threats and punishment

Dopamine: (DA)pleasure, wanting, anticipation, and reward

Acetylcholine (Ach): expected uncertainty?

Norepinephrine (NE): novelty (unexpected uncertainty)?

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Emergent Value Systems

Daly, Brown, Weng 2011, Paslaski, VanDam, & Weng 2011, Weng et al. Neural Networks 2013: Neuromorphic Motivated Systems based on DN: 5-HT and DA Wandering or foraging, face recognition

Wang, Wu, & Weng 2011, 2012 Neuromorphic Motivated Systems based on DN: Ach and NE Novelty and Uncertainty Synapse maintenance Segmentation of objects from backgrounds

Zheng, Qian, Weng, Zheng 2013 Effects on internal brain areas: change learning rates

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Effects of 5-HT and DA on Y?

Effect on Z area: Inhibit and excite actionsWeng et al. IJCNN 2011

Effect on Y area:on learning rateZheng, Qian, Weng & Zhang, IJCNN 2013

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Dopamine System

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Serotonin System

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Acetylcholine System

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Norepinephrine System

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Bottom-Up Weights and 5-HT

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Y Weights for Z Neurons

Paslaski et al. IJCNN 2011

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Error Rates for Recognition

Paslaski et al. IJCNN 2011

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Navigation, Wandering, Foraging

Three synthetic agents: Self (S) Attractor (A) Repulsor (R)

5-HT: distance-lonely and distance-fear

DA: d < distance-desire

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Setting

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Environmental Settings

No brainer (control): no pain, no pleasure Love or War (D-lonely, D-fear) = (50, 50) Little Danger (D-lonely, D-fear) = (25, 125) Much Danger (D-lonely, D-fear) = (125, 25) Looking over the Fence

(D-lonely, D-fear) = (125, 125)

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Average Distance

Daly et al. IJCNN 2011

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Ach and NE: Goal for Segmentation

Wang, Wu and Weng, IJCNN 2011

(a) Bottom-up input to a neuron. (b) True object contour. (c) Estimated synaptogenic factor

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Global Confidence: Face Recognition

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Ach & NE: Receiver Operating Curve

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ACh Estimates

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DN: Motivational System as Emotion

Emergent nervous system Modeled:

5-HT (serotonin) DA (dopamine) Ach (acetylcholine) NE (norepinephrine)

Basic and higher emotion: developed from experience