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Understanding mirror neurons : A bio-robotic approach 인인인인 인인인인 VCC 인인 2 인인 인인인

Understanding mirror neurons : A bio-robotic approach

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Understanding mirror neurons : A bio-robotic approach. 인지과학 협동과정 VCC 석사 2 학기 김시온. 1.Introduction. Understanding action. 사 과. 때리다. 왜 ?. 미워서 , 웃겨서 , 짜증나서 까불어서 , 사랑의 마음으로 잘되라고 , 말 안들어서 …. -> 의도 파악의 필요성. 1.Introduction. Speech understanding machine. - PowerPoint PPT Presentation

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Page 1: Understanding mirror neurons : A bio-robotic approach

Understanding mirror neurons: A bio-robotic approach

인지과학 협동과정VCC 석사 2 학기 김시온

Page 2: Understanding mirror neurons : A bio-robotic approach

Understanding action1.Introduction

사과 때리다왜 ?

미워서 , 웃겨서 , 짜증나서까불어서 , 사랑의 마음으로잘되라고 , 말 안들어서…-> 의도 파악의 필요성

Page 3: Understanding mirror neurons : A bio-robotic approach

Speech understanding machine

• Alvin Liberman(May 10, 1917 - Jan. 13, 2000)

1.Introduction

Analyzing the acoustic characteristics of spoken words

Failed because of the limited computational power available

Subjects Context

Sound Articulatory gestures

Page 4: Understanding mirror neurons : A bio-robotic approach

Acoustically –evoked motor “Resonance”1.Introduction

Perception 에도 관여한다 .

Production 에 관여한 지식들이

Action 과 관련하여 이러한 역할을 하는 것으로보이는 영역이 발견되었다 !!

Page 5: Understanding mirror neurons : A bio-robotic approach

2. Physiological properties of monkey rostroventral premotor area (F5)

Inferior premotor area

Page 6: Understanding mirror neurons : A bio-robotic approach

2. Physiological properties of monkey rostroventral premotor area (F5)

Motor Neurons

• Goal-Directed action 들에 반응 (grasping, manipulating, tearing, holding) - 비슷한 손동작이 사용될지라도 목적이 다르면 발화하지 않음• 많은 Grasping neuron 들은 특정한 종류 의 Grasping 에만 선택적 반응 (precision, finger prehension, whole hand grasping)

-> a repository of motor actions

Page 7: Understanding mirror neurons : A bio-robotic approach

Visuomotor Neurons- Canonical Neurons

• 움직임이 있기 전에 , 움직일 수 있는 대상을 보았을 때에도 발화• 많은 canonical neurons 들은 하나 , 혹은 소수의 대상에 선택적으로 반응한다 .

2. Physiological properties of monkey rostroventral premotor area (F5)

Page 8: Understanding mirror neurons : A bio-robotic approach

Visuomotor Neurons- Mirror Neurons

• 내가 행동할 때 뿐만 아니라 , 다른 행위자가 동일한 목표 - 지향적 행동을 할 때에도 발화• 최근 연구 결과 F5 이외에도 PF 에서도 발견됨• 다른 행위자가 손이나 입을 이용해 물체와 상호작용할 때 활발하게 반응• 도구를 이용했을 때에는 반응하지 않음• 대부분의 Mirror Neuron 들은 한 종류의 행동에만 선택적으로 반응 (Highly congruent neurons)

2. Physiological properties of monkey rostroventral premotor area (F5)

Page 9: Understanding mirror neurons : A bio-robotic approach

Visuomotor Neurons- Mirror Neurons

2. Physiological properties of monkey rostroventral premotor area (F5)

Page 10: Understanding mirror neurons : A bio-robotic approach

A role of F53. A model of area F5 and the mirror system

ControllerClassifier

Object affordance

Visual appearance of the hand

Page 11: Understanding mirror neurons : A bio-robotic approach

Controller-predictor formulation3. A model of area F5 and the mirror system

Acting Specific Motor Plan

Desired action, timing

Context

※ Feedback : to counteract disturbances and to learn from mistakes

ComparisonF5 forward information

≒ Sensory feedback(VMM)

Desired action

Page 12: Understanding mirror neurons : A bio-robotic approach

Controller-predictor formulation3. A model of area F5 and the mirror system

Observing an action Transforming visual cues into motor information as before

Mirror Neurons

Bayesian approach??

Page 13: Understanding mirror neurons : A bio-robotic approach

Ontogenesis of mirror neurons

• 아기들이 행위자의 목표를 판단할 때 사용하는 Cue 는 ? (Path? Object?)

• Results

6,9 mos : new>old goal

Woodward(1998)

3. A model of area F5 and the mirror system

Page 14: Understanding mirror neurons : A bio-robotic approach

3. A model of area F5 and the mirror system

1) Certain actions are more likely to be applied to a particular object2) Objects are used to perform actions

How do we achieve an action recognizing?

Canonical Neuron

Mirror N

euronLinkingParticular action= particular effect

Specific goals

Page 15: Understanding mirror neurons : A bio-robotic approach

Question!!

• 과연 VMM 정보가 Action 인식에 도움을 줄까 ??

• 로봇를 가지고 한번 직접 실험해 보자 !

Page 16: Understanding mirror neurons : A bio-robotic approach

4. A machine with hands

Recording “motor awareness”

• Cyber-glove, a pair of CCD cameras, a magnetic tracker, two touch sensors

• Data was sampled at frame rate, synchronized and stored to disk by a Pentium class PC

• Cyber-glove has 22 sensors , recording the kinematics of the hand at up to 112Hz

• Two touch sensors were mounted on the thumb and index finger to detect the moment of contact with the object

• Matlab was employed for post-processing

Motor-kinesthetic information + visual information vs only visual information

Page 17: Understanding mirror neurons : A bio-robotic approach

Grasping type followed Napier’s taxonomy4. A machine with hands

Page 18: Understanding mirror neurons : A bio-robotic approach

4. A machine with hands

• Each grasping action was recorded from six different subjects.• Moving the cameras to 12 different locations• Images of the scene from the two camera synchronized with the cyber-glove and magnetic tracker data

• The visual features were extracted from pre-processed image data• Using a simple color segmentation algorithm• The data set was filtered through Principal Component Analysis

=> Bayesian Classifier

Classification Task

Motor-kinesthetic information + visual information vs only visual information

Page 19: Understanding mirror neurons : A bio-robotic approach

VMM

• Using a simple back-propagation neural network with sigmoidal units

• The input of the VMM was the vector of the mapping of the images onto the space spanned by the first N PCA vectors

• The output was the vector of joint angle acquried the data glove.

4. A machine with hands

Page 20: Understanding mirror neurons : A bio-robotic approach

Experiment 1 - Classification4. A machine with hands

>-> 운동정보가 Action recognition 에 도움을 줄 수 있다 !!!

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Cog5. Robotic experiment

Flipper

A mirror neuron-like representation could be acquired by simply relying on the information exchanged during the robot- environment interaction( 로봇 - 환경 간의 상호작용에서 mirror-neuron 과 같은 표상을 획득할 수 있는가 ?)

Page 22: Understanding mirror neurons : A bio-robotic approach

Causal indirection, brain area and function5. Robotic experiment

If any neural unit is active in these two situations(both when acting and observing)Then it can be regarded in all respects as a “mirror” unit.

1

by repetitive exposure and manipulation

Page 23: Understanding mirror neurons : A bio-robotic approach

Rolling affordances6. Learning object affordances

Grasping(x)Touching, poking, prodding, sweeping(o)

Page 24: Understanding mirror neurons : A bio-robotic approach

6. Learning object affordances

Rolling affordances

Page 25: Understanding mirror neurons : A bio-robotic approach

Generic poking actions

Can this information be re-used when acting to generate anything usefulShowing exploitation of the object affordance?

6. Learning object affordances

100/15 … 3 번만 완전 실패 ( Canonical Neuron)≒Another interesting question is whether knowledge about object directed actionscan be reused in interpreting observed actions performed by a human experimenter.

Page 26: Understanding mirror neurons : A bio-robotic approach

mimicry7. Developing mirror neurons

Same segmentation procedure section 6 generated by human and robot

… LEARNING??

Page 27: Understanding mirror neurons : A bio-robotic approach

Passive vs Active imitation

Demiris & Hayes, 2002

7. Developing mirror neurons

Page 28: Understanding mirror neurons : A bio-robotic approach

mimicry7. Developing mirror neurons

Learning of mirror neurons can be carried out by a process of autonomous development

Page 29: Understanding mirror neurons : A bio-robotic approach

• The motor information plays a role in the recognition process

• A mirror-like representation can be developed autonomously on the basis of the interaction between an individual and the environment

7. Conclusion

Page 30: Understanding mirror neurons : A bio-robotic approach

감사합니다 .