an internal model architecture for novelty detection implications for cerebellar and collicular roles in sensory processing一个内部的模型架构新奇检测对小脑和collicular角色在感觉处理的影响.pdfVIP

An Internal Model Architecture for Novelty Detection: Implications for Cerebellar and Collicular Roles in Sensory Processing 1 1 2 2 1 1 Sean R. Anderson , John Porrill , Martin J. Pearson , Anthony G. Pipe , Tony J. Prescott , Paul Dean * 1 Department of Psychology, University of Sheffield, Sheffield, United Kingdom, 2 Bristol Robotics Laboratory, Bristol, United Kingdom Abstract The cerebellum is thought to implement internal models for sensory prediction, but details of the underlying circuitry are currently obscure. We therefore investigated a specific example of internal-model based sensory prediction, namely detection of whisker contacts during whisking. Inputs from the vibrissae in rats can be affected by signals generated by whisker movement, a phenomenon also observable in whisking robots. Robot novelty-detection can be improved by adaptive noise-cancellation, in which an adaptive filter learns a forward model of the whisker plant that allows the sensory effects of whisking to be predicted and thus subtracted from the noisy sensory input. However, the forward model only uses information from an efference copy of the whisking commands. Here we show that the addition of sensory information from the whiskers allows the adaptive filter to learn a more complex internal model that performs more robustly than the forward model, particularly when the whisking-induced interference has a periodic structure. We then propose a neural equivalent of the circuitry required for adaptive novelty-detection in the robot, in which the role of the adaptive filter is carried out by the cerebellum, with the comparison of its output (an estimate of the self-induced interference) and