In the last decade the outlines of the neural structures subserving the sense of direction have begun to emerge. Several investigations have shed light on the effects of vestibular input and visual input on the head direction representation. In this paper, a model is formulated of the neural mechanisms underlying the head direction system. The model is built out of simple ingredients, depending on nothing more complicated than connectional specificity, attractor dynamics, Hebbian learning, and sigmoidal nonlinearities, but it behaves in a sophisticated way and is consistent with most of the observed properties ofreal head direction cells. In addition it makes a number of predictions that ought to be testable by reasonably straightforward experiments.

Terence D. Sanger Jet Propulsion Laboratory MS 303-310 4800 Oak Grove Drive Pasadena, CA 91109 (818) 354-9127 tds@ai.mit.edu Abstract The theory of Optimal Unsupervised Motor Learning shows how a network can discover a reduced-order controller for an unknown nonlinear system by representing only the most significant modes. Here, I extend the theory to apply to command sequences, so that the most significant components discovered by the network correspond to motion "primitives". Combinations of these primitives can be used to produce a wide variety of different movements. I demonstrate applications to human handwriting decomposition and synthesis, as well as to the analysis of electrophysiological experiments on movements resulting from stimulation of the frog spinal cord. 1 INTRODUCTION There is much debate within the neuroscience community concerning the internal representation of movement, and current neurophysiological investigations are aimed at uncovering these representations. In this paper, I propose a different approach that attempts to define the optimal internal representation in terms of "movement primitives", and I compare this representation with the observed behavior.

School of Computer Science School of Computer Science Carnegie Mellon University Carnegie Mellon University Pittsburgh, PA 15213 Pittsburgh, PA 15213 Abstract In many vision based tasks, the ability to focus attention on the important portions of a scene is crucial for good performance on the tasks. In this paper we present a simple method of achieving spatial selective attention through the use of a saliency map. The saliency map indicates which regions of the input retina are important for performing the task. The saliency map is created through predictive auto-encoding. The performance of this method is demonstrated on two simple tasks which have multiple very strong distracting features in the input retina. Architectural extensions and application directions for this model are presented. On some tasks this extra input can easily be ignored. Nonetheless, often the similarity between the important input features and the irrelevant features is great enough to interfere with task performance.

Although artificial neural networks have been applied in a variety of real-world scenarios with remarkable success, they have often been criticized for exhibiting a low degree of human comprehensibility. Techniques that compile compact sets of symbolic rules out of artificial neural networks offer a promising perspective to overcome this obvious deficiency of neural network representations. This paper presents an approach to the extraction of if-then rules from artificial neural networks. Its key mechanism is validity interval analysis, which is a generic tool for extracting symbolic knowledge by propagating rule-like knowledge through Backpropagation-style neural networks. Empirical studies in a robot arm domain illustrate the appropriateness of the proposed method for extracting rules from networks with real-valued and distributed representations.

The spatial distribution and time course of electrical signals in neurons have important theoretical and practical consequences. Because it is difficult to infer how neuronal form affects electrical signaling, we have developed a quantitative yet intuitive approach to the analysis of electrotonus. This approach transforms the architecture of the cell from anatomical to electrotonic space, using the logarithm of voltage attenuation as the distance metric. We describe the theory behind this approach and illustrate its use. 1 INTRODUCTION The fields of computational neuroscience and artificial neural nets have enjoyed a mutually beneficial exchange of ideas. This has been most evident at the network level, where concepts such as massive parallelism, lateral inhibition, and recurrent excitation have inspired both the analysis of brain circuits and the design of artificial neural net architectures. Less attention has been given to how properties of the individual neurons or processing elements contribute to network function. Biological neurons and brain circuits have 70 Nicholas Carnevale, Kenneth Y. Tsai, Brenda J. Claiborne, Thomas H. Brown

A model of the hippocampus is presented which forms rapid self -organized representations of input arriving via the perforant path, performs recall of previous associations in region CA3, and performs comparison of this recall with afferent input in region CA 1. This comparison drives feedback regulation of cholinergic modulation to set appropriate dynamics for learning of new representations in region CA3 and CA 1. The network responds to novel patterns with increased cholinergic modulation, allowing storage of new self-organized representations, but responds to familiar patterns with a decrease in acetylcholine, allowing recall based on previous representations. This requires selectivity of the cholinergic suppression of synaptic transmission in stratum radiatum of regions CA3 and CAl, which has been demonstrated experimentally. 1 INTRODUCTION A number of models of hippocampal function have been developed (Burgess et aI., 1994; Myers and Gluck, 1994; Touretzky et al., 1994), but remarkably few simulations have addressed hippocampal function within the constraints provided by physiological and anatomical data. Theories of the function of specific subregions of the hippocampal formation often do not address physiological mechanisms for changing dynamics between learning of novel stimuli and recall of familiar stimuli.

Reinforcement learning-the problem of getting an agent to learn to act from sparse, delayed rewards-has been advanced by techniques based on dynamic programming (DP). These algorithms compute a value function which gives, for each state, the minimum possible long-term cost commencing in that state. For the high-dimensional and continuous state spaces characteristic of real-world control tasks, a discrete representation of the value function is intractable; some form of generalization is required. A natural way to incorporate generalization into DP is to use a function approximator, rather than a lookup table, to represent the value function. This approach, which dates back to uses of Legendre polynomials in DP [Bellman et al., 19631, has recently worked well on several dynamic control problems [Mahadevan and Connell, 1990, Lin, 1993] and succeeded spectacularly on the game of backgammon [Tesauro, 1992, Boyan, 1992]. On the other hand, many sensible implementations have been less successful [Bradtke, 1993, Schraudolph et al., 1994]. Indeed, given the well-established success 370 Justin Boyan, Andrew W. Moore

We present a new algorithm for finding low complexity networks with high generalization capability. The algorithm searches for large connected regions of so-called ''fiat'' minima of the error function. In the weight-space environment of a "flat" minimum, the error remains approximately constant. Using an MDL-based argument, flat minima can be shown to correspond to low expected overfitting. Although our algorithm requires the computation of second order derivatives, it has backprop's order of complexity. Experiments with feedforward and recurrent nets are described. In an application to stock market prediction, the method outperforms conventional backprop, weight decay, and "optimal brain surgeon".

We propose a computational framework for understanding and modeling human consciousness. This framework integrates many existing theoretical perspectives, yet is sufficiently concrete to allow simulation experiments. We do not attempt to explain qualia (subjective experience), but instead ask what differences exist within the cognitive information processing system when a person is conscious of mentally-represented information versus when that information is unconscious. The central idea we explore is that the contents of consciousness correspond to temporally persistent states in a network of computational modules. Three simulations are described illustrating that the behavior of persistent states in the models corresponds roughly to the behavior of conscious states people experience when performing similar tasks. Our simulations show that periodic settling to persistent (i.e., conscious) states improves performance by cleaning up inaccuracies and noise, forcing decisions, and helping keep the system on track toward a solution.

Ni1000 was designed to calculate "city block" distances (Le.