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Spatial Representation and Navigation in a Bio-inspired Robot

Summary: Spatial Representation and Navigation in a
Bio-inspired Robot
Denis Sheynikhovich, Ricardo Chavarriaga, Thomas Str¨osslin,
and Wulfram Gerstner
Swiss Federal Institute of Technology,
Laboratory of Computational Neuroscience,
CH-1015 Lausanne, Switzerland
{denis.sheynikhovich, ricardo.chavarriaga,
thomas.stroesslin, wulfram.gerstner}@epfl.ch
Abstract. A biologically inspired computational model of rodent repre-
sentation­based (locale) navigation is presented. The model combines vi-
sual input in the form of realistic two dimensional grey-scale images and
odometer signals to drive the firing of simulated place and head direc-
tion cells via Hebbian synapses. The space representation is built incre-
mentally and on-line without any prior information about the environ-
ment and consists of a large population of location-sensitive units (place
cells) with overlapping receptive fields. Goal navigation is performed us-
ing reinforcement learning in continuous state and action spaces, where
the state space is represented by population activity of the place cells.
The model is able to reproduce a number of behavioral and neuro-


Source: Arleo, Angelo - Laboratory of Neurobiology of Adaptive Processes, Université Pierre-et-Marie-Curie, Paris 6


Collections: Biology and Medicine