A BASAL GANGLIA INSPIRED MODEL OF ACTION SELECTION EVALUATED IN A ROBOTIC SURVIVAL TASK

1 December 2003

journal article
research article
Published by World Scientific Pub Co Pte Ltd in Journal of Integrative Neuroscience

Vol. 02 (02) , 179-200
https://doi.org/10.1142/s0219635203000299

Abstract

The basal ganglia system has been proposed as a possible neural substrate for action selection in the vertebrate brain. We describe a robotic implementation of a model of the basal ganglia and demonstrate the capacity of this system to generate adaptive switching between several acts when embedded in a robot that has to "survive" in a laboratory environment. A comparison between this brain-inspired selection mechanism and classical "winner-takes-all" selection highlights some adaptive properties specific to the model, such as avoidance of dithering and energy-saving. These properties derive, in part, from the capacity of simulated basal ganglia-thalamo-cortical loops to generate appropriate "behavioral persistence".

Keywords

This publication has 26 references indexed in Scilit:

The role of intra-thalamic and thalamocortical circuits in action selection
Network: Computation in Neural Systems, 2002
Layered Control Architectures in Robots and Vertebrates
Adaptive Behavior, 1999
Reinforcement learning by Hebbian synapses with adaptive thresholds
Neuroscience, 1997
THE BASAL GANGLIA: FOCUSED SELECTION AND INHIBITION OF COMPETING MOTOR PROGRAMS
Progress in Neurobiology, 1996
The Use of Hierarchies for Action Selection
Adaptive Behavior, 1993
Disinhibition as a basic process in the expression of striatal functions
Trends in Neurosciences, 1990
The functional anatomy of basal ganglia disorders
Trends in Neurosciences, 1989
A positive feedback model for switching between two activities
Animal Behaviour, 1985
The behavioural final common path
Philosophical Transactions of the Royal Society of London. B, Biological Sciences, 1975
Time-Shared Feeding and Drinking
Quarterly Journal of Experimental Psychology, 1973