A three-layered neural network model was used to explore the organization of the vestibulo-ocular reflex (VOR). The dynamic model was trained using recurrent back-propagation to produce compensatory, long duration eye muscle motoneuron outputs in response to short duration vestibular afferent head velocity inputs. The network learned to produce this response prolongation, known as velocity storage, by developing complex, lateral inhibitory interac(cid:173) tions among the interneurons. These had the low baseline, long time constant, rectified and skewed responses that are characteristic of real VOR inter(cid:173) neurons. The model suggests that all of these features are interrelated and result from lateral inhibition.

We introduce a framework for model learning and planning in stochastic domains with continuous state and action spaces and non-Gaussian transition models. It is efficient because (1) local models are estimated only when the planner requires them; (2) the planner focuses on the most relevant states to the current planning problem; and (3) the planner focuses on the most informative and/or high-value actions. Our theoretical analysis shows the validity and asymptotic optimality of the proposed approach. Empirically, we demonstrate the effectiveness of our algorithm on a simulated multi-modal pushing problem.

We address challenges of active learning under scarce informational resources in non-stationary environments. In real-world settings, data labeled and integrated into a predictive model may become invalid over time. However, the data can become informative again with switches in context and such changes may indicate unmodeled cyclic or other temporal dynamics. We explore principles for discarding, caching, and recalling labeled data points in active learning based on computations of value of information. We review key concepts and study the value of the methods via investigations of predictive performance and costs of acquiring data for simulated and real-world data sets.

Vestibular compensation is the process whereby normal functioning is regained following destruction of one member of the pair of peripheral vestibular receptors.

Vestibular compensation is the process whereby normal functioning is regained following destruction of one member of the pair of peripheral vestibular receptors.

VOR neurons in normal and compensated animals.

A three-layered neural network model was used to explore the organization of the vestibulo-ocular reflex (VOR). The dynamic model was trained using recurrent back-propagation to produce compensatory, long duration eye muscle motoneuron outputs in response to short duration vestibular afferent head velocity inputs. The network learned to produce this response prolongation, known as velocity storage, by developing complex, lateral inhibitory interactions among the interneurons. These had the low baseline, long time constant, rectified and skewed responses that are characteristic of real VOR interneurons. The model suggests that all of these features are interrelated and result from lateral inhibition.

A three-layered neural network model was used to explore the organization of the vestibulo-ocular reflex (VOR). The dynamic model was trained using recurrent back-propagation to produce compensatory, long duration eye muscle motoneuron outputs in response to short duration vestibular afferent head velocity inputs. The network learned to produce this response prolongation, known as velocity storage, by developing complex, lateral inhibitory interactions among the interneurons. These had the low baseline, long time constant, rectified and skewed responses that are characteristic of real VOR interneurons. The model suggests that all of these features are interrelated and result from lateral inhibition.

The network learned to produce this response prolongation, known as velocity storage, by developing complex, lateral inhibitory interactions among the interneurons.

We have constructed a two axis camera positioning system which is roughly analogous to a single human eye. This Artificial-Eye (Aeye) combines the signals generated by two rate gyroscopes with motion information extracted from visual analysis to stabilize its camera. This stabilization process is similar to the vestibulo-ocular response (VOR); like the VOR, A-eye learns a system model that can be incrementally modified to adapt to changes in its structure, performance and environment. A-eye is an example of a robust sensory system that performs computations that can be of significant use to the designers of mobile robots. 1 Introduction We have constructed an "artificial eye" (A-eye), an autonomous robot that incorporates a two axis camera positioning system (figure 1). Like a the human oculomotor system, A-eye can estimate the rotation rate of its body with a gyroscope and estimate the rotation rate of its "eye" by measuring image slip