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Robinson, B. S.

Publications and source records attributed to Robinson, B. S..

2 recordsLinked to original sources

Informing generative replay for continual learning with long-term memory formation in the fruit fly

Continual learning without catastrophic forgetting is a challenge for artificial systems but it is done naturally across a range of biological systems, including in insects. A recurrent circuit has been identified in the fruit fly mushroom body to consolidate long term memories (LTM), but there is not currently an algorithmic understanding of this LTM formation. We hypothesize that generative replay is occurring to consolidate memories in this recurrent circuit, and find anatomical evidence in synapse-level connectivity that supports this hypothesis. Next, we introduce a computational model which combines an initial experience phase and LTM phase to perform generative replay based continual learning. When evaluated on a CIFAR-100 class-incremental continual learning task, the modeled LTM phase increases classification performance by 20% and approaches within 2% of the performance for a non-incremental upper bound baseline. Unique elements of the proposed generative replay model include: 1) coupling high dimensional sparse activation patterns with generative replay and 2) sampling and reconstructing higher level representations for training generative replay (as opposed to reconstructing sensory-level or processed sensory-level representations). Additionally, we make the experimentally testable prediction that a specific set of synapses would need to undergo experience-dependent plasticity during LTM formation to support our generative replay based model.

neuroscience↗

Online learning for orientation estimation during translation in an insect ring attractor network

Insect neural systems are a promising source of inspiration for new algorithms for navigation, especially on low size, weight, and power platforms. There have been unprecedented recent neuroscience breakthroughs with Drosophila in behavioral and neural imaging experiments as well as the mapping of detailed connectivity of neural structures. General mechanisms for learning orientation in the central complex (CX) of Drosophila have been investigated previously; however, it is unclear how these underlying mechanisms extend to cases where there is translation through an environment (beyond only rotation), which is critical for navigation in robotic systems. Here, we develop a CX neural connectivity-constrained model that performs sensor fusion, as well as unsupervised learning of visual features for path integration; we demonstrate the viability of this circuit for use in robotic systems in simulated and physical environments. Furthermore, we propose a theoretical understanding of how distributed online unsupervised network weight modification can be leveraged for learning in a trajectory through an environment by minimizing of orientation estimation error. Overall, our results here may enable a new class of CX-derived low power robotic navigation algorithms and lead to testable predictions to inform future neuroscience experiments. SummaryAn insect neural connectivity-constrained model performs sensor fusion and online learning for orientation estimation.

neuroscience↗