A context based decision making architecture for a navigation task

HAL Id: hal-01063968

https://hal.archives-ouvertes.fr/hal-01063968

Submitted on 15 Sep 2014

HAL is a multi-disciplinary open access

archive for the deposit and dissemination of

sci-entific research documents, whether they are

pub-lished or not. The documents may come from

teaching and research institutions in France or

abroad, or from public or private research centers.

L’archive ouverte pluridisciplinaire HAL, est

destinée au dépôt et à la diffusion de documents

scientifiques de niveau recherche, publiés ou non,

émanant des établissements d’enseignement et de

recherche français ou étrangers, des laboratoires

publics ou privés.

A context based decision making architecture for a

navigation task

Souheïl Hanoune, A. de Rengervé, Pierre Andry, Mathias Quoy, Philippe

Gaussier

To cite this version:

Souheïl Hanoune, A. de Rengervé, Pierre Andry, Mathias Quoy, Philippe Gaussier. A context based

decision making architecture for a navigation task. Third International Symposium on Biology of

Decision Making, May 2013, Paris, France. pp.25-26. �hal-01063968�

❚❤✐r❞ ■♥t❡r♥❛t✐♦♥❛❧ ❙②♠♣♦s✐✉♠ ♦♥ ❇✐♦❧♦❣② ♦❢ ❉❡❝✐s✐♦♥ ▼❛❦✐♥❣

❙❇❉▼✷✵✶✸

❆ ❝♦♥t❡①t ❜❛s❡❞ ❞❡❝✐s✐♦♥ ♠❛❦✐♥❣ ❛r❝❤✐t❡❝t✉r❡ ❢♦r ❛ ♥❛✈✐❣❛t✐♦♥ t❛s❦

❙♦✉❤❡ï❧ ❍❛♥♦✉♥❡1 2_{✱ ❆♥t♦✐♥❡ ❞❡ ❘❡♥❣❡r✈é}1 2_{✱ P✐❡rr❡ ❆♥❞r②}1 2_{✱ ▼❛t❤✐❛s ◗✉♦②}1 2_{✱ P❤✐❧✐♣♣❡ ●❛✉ss✐❡r}1 2 1_{❯♥✐✈❡rs✐t② ♦❢ ❈❡r❣② P♦♥t♦✐s❡✱ ❋r❛♥❝❡✳} 2_{❊❚■❙ ❧❛❜✱ ❯▼❘ ✽✵✺✶ ❈◆❘❙✱ ❯♥✐✈❡rs✐t② ♦❢ ❈❡r❣②✲P♦♥t♦✐s❡✱ ❊◆❙❊❆✱ ❋r❛♥❝❡✳} ❡✲♠❛✐❧✿ ④s♦✉❤❡✐❧✳❤❛♥♦✉♥❡✱ ❛♥t♦✐♥❡✳❞❡r❛♥❣❡r✈❡✱ ♣✐❡rr❡✳❛♥❞r②✱ q✉♦②✱ ❣❛✉ss✐❡r⑥❅❡♥s❡❛✳❢r ❈♦rr❡❝t✐✈❡ ❧❡❛r♥✐♥❣ ✐s ❛♥ ✐♥t❡r❡st✐♥❣ ♣❛r❛❞✐❣♠ ❢♦r ♦♥✲❧✐♥❡ ❧❡❛r♥✐♥❣ ♦❢ ❛ tr❛❥❡❝t♦r② ❢r♦♠ ♥♦♥✲✈❡r❜❛❧ ✐♥t❡r❛❝✲ t✐♦♥✳ ❲❡ ♣r♦♣♦s❡ ❛ ♠♦❞❡❧ ♦❢ ❛❝t✐♦♥ s❡❧❡❝t✐♦♥ ❜❛s❡❞ ♦♥ ❝♦rr❡❝t✐✈❡ ✐♥t❡r❛❝t✐♦♥s ❜❡t✇❡❡♥ t❤❡ r♦❜♦t ❛♥❞ ❛ t❡❛❝❤❡r✳ ❇② ✉s✐♥❣ t❤❡ ❛♣♣r♦♣r✐❛t❡ ❝♦rr❡❝t✐♦♥ s✐❣♥❛❧✱ ❛ ♠✐♥✐♠❛❧ s♦❧✉t✐♦♥ ✐s t♦ ❧❡❛r♥ s♣❡❝✐✜❝ ❝♦♥t❡①ts ✐♥❤✐❜✐t✐♥❣ t❤❡ ✇r♦♥❣ ❛❝t✐♦♥s ✐♥ ♦r❞❡r t♦ ❧❡t t❤❡ ❛♣♣r♦♣r✐❛t❡ ❜❡❤❛✈✐♦r ❜❡ ❡①❤✐❜✐t❡❞ ✐♥ ❛♥② ❝✐r❝✉♠st❛♥❝❡s✳ ❲❡ ♣r❡s❡♥t ❛ s♦❧✉t✐♦♥ t♦ ❛♥ ❛❝t✐♦♥ s❡❧❡❝t✐♦♥ ♣r♦❜❧❡♠✱ ✇❤❡r❡ ❛ ♠♦❜✐❧❡ r♦❜♦t ❤❛s t♦ ♣✐❝❦ ✉♣ ♦❜❥❡❝ts ✐♥ ❛ ❣✐✈❡♥ ♣♦s✐t✐♦♥ ♦❢ t❤❡ ❡♥✈✐r♦♥♠❡♥t✳ ❆❝❝♦r❞✐♥❣ t♦ t❤❡ s✐③❡ ♦❢ t❤❡ ♦❜❥❡❝t✱ t❤❡ r♦❜♦t ♠✉st ❡✐t❤❡r ❣♦ ❧❡❢t ♦r r✐❣❤t t♦ ❞r♦♣ t❤❡ ♦❜❥❡❝t ✐♥ t❤❡ ♣❧❛❝❡ ❆ ♦r t❤❡ ♣❧❛❝❡ ❇ ✭s❡❡ ❋✐❣✿✶✮✳ ❚❤❡ ♥❛✈✐❣❛t✐♦♥ t❛s❦ ✐s ❜❛s❡❞ ♦♥ ❛ ♣❧❛❝❡ ❝❡❧❧s ❬✶❪ r❡♣r❡s❡♥t❛t✐♦♥ ♦❢ t❤❡ ❡♥✈✐r♦♥♠❡♥t✳ ❲❤❡♥ ❛ ♥❡✇ ♣❧❛❝❡ ❝❡❧❧ ✐s ❧❡❛r♥❡❞✱ ❛ ❞✐r❡❝t✐♦♥ ✐s ❛ss♦❝✐❛t❡❞ t♦ ✐t✳ ❚❤❡ r♦❜♦t ❝❛♥ ❜❡ ❝♦rr❡❝t❡❞ ❜② t❤❡ t❡❛❝❤❡r ❛t ❛♥② ♠♦♠❡♥t✳ ❲❤❡♥ t❤❡ ❝♦rr❡❝t✐♦♥ ♦❝❝✉rs✱ t❤❡ s②st❡♠ ❡✈❛❧✉❛t❡s t❤❡ ♦r❞❡r ❛♥❞✱ ❡✐t❤❡r ❛ ♥❡✇ ♣❧❛❝❡ ❝❡❧❧ ✐s r❡❝r✉✐t❡❞ ❛♥❞ t❤❡ ♥❡✇ ❞✐r❡❝t✐♦♥ ✐s ❛ss♦❝✐❛t❡❞ t♦ t❤✐s ♣❧❛❝❡ ❝❡❧❧✱ ♦r ❛ ❝♦♥t❡①t ✐s ❝r❡❛t❡❞ ❛♥❞ t❤❡ ✇✐♥♥✐♥❣ ♣❧❛❝❡ ❝❡❧❧ ✐s ✐♥❤✐❜✐t❡❞✳ ❚❤✐s ✐♥❤✐❜✐t✐♦♥ ❛❧❧♦✇s t❤❡ ♥❡❛r❧② ✇✐♥♥✐♥❣ ♣❧❛❝❡ ❝❡❧❧s t♦ ❡①♣r❡ss t❤❡✐r ❞✐r❡❝t✐♦♥s✱ ❛♥❞ s♦ t❤❡ r♦❜♦t ❝❛♥ ❢♦❧❧♦✇ t❤❡ ❝♦rr❡❝t ❞✐r❡❝t✐♦♥ ✇❤✐t❤♦✉t r❡❝r✉✐t✐♥❣ ❛ ♥❡✇ ♣❧❛❝❡ ❝❡❧❧✳ ❚❤❡ ❝♦♥t❡①ts ❛r❡ ❜❛s❡❞ ♦♥ t❤❡ s❡♥s♦r② ✐♥♣✉ts ♦❢ t❤❡ r♦❜♦t ✭✉❧tr❛s♦✉♥❞✱ ❣r✐♣ ♦❢ t❤❡ ❛r♠ ❛♥❞ t❤❡ ♣❧❛❝❡ ❝❡❧❧s ❛❝t✐✈✐t②✮✳ ❲❤❡♥ ❛ ❝♦♥t❡①t ✐s r❡❝r✉✐t❡❞✱ ✐t ✐s ❛ss♦❝✐❛t❡❞ t♦ t❤❡ ✇✐♥♥✐♥❣ ♣❧❛❝❡ ❝❡❧❧✳ ❇② t❤✐s ♠❡❝❛♥✐s♠✱ ♦♥❧② ♦♥❡ ❝♦♥t❡①t ✐s r❡❝r✉✐t❡❞ ❜② ♣❧❛❝❡ ❝❡❧❧✱ ❜✉t ❛ ❝♦♥t❡①t ❝❛♥ ✐♥❤✐❜✐t ❛s ♠❛♥② ♣❧❛❝❡ ❝❡❧❧ ❛s ♥❡❡❞❡❞✳ ❚❤✐s ❛r❝❤✐t❡❝t✉r❡ ❛❧❧♦✇s ✉s t♦ s♦❧✈❡ t❤❡ ❛❝t✐♦♥ s❡❧❡❝t✐♦♥ ♣r♦❜❧❡♠ ✐♥ t❤✐s ❡♥✈✐r♦♥♠❡♥t ❜② ✐♥❤✐❜✐t✐♥❣ t❤❡ ✇r♦♥❣ ♣❧❛❝❡ ❝❡❧❧ ✭❛♥❞ t❤✉s ✐ts ❞✐r❡❝t✐♦♥✮ ❛❝❝♦r❞✐♥❣ t♦ t❤❡ s✐③❡ ♦❢ t❤❡ ♦❜❥❡❝t✳ ❇② ❛❧❧♦✇✐♥❣ t❤❡ ❝♦♥t❡①ts t♦ ❜❧♦❝❦ ♠✉❧t✐♣❧❡ ♣❧❛❝❡ ❝❡❧❧s✱ t❤❡ ♥✉♠❜❡r ♦❢ ♣❧❛❝❡ ❝❡❧❧s r❡q✉✐r❡❞ t♦ ♦❜t❛✐♥ t❤❡ ❝♦rr❡❝t ❜❡❤❛✈✐♦r ✐s r❡❞✉❝❡❞✳ ❲❡ ♣r❡s❡♥t ❛ ♠♦❞❡❧ ♦❢ ❛❝t✐♦♥ s❡❧❡❝t✐♦♥ ❜❛s❡❞ ♦♥ ❝♦♥t❡①ts ❣✉✐❞✐♥❣ s❡♥s♦r②✲♠♦t♦r ❛ss♦❝✐❛t✐♦♥s✳ ❚❤✐s ❛♣♣r♦❛❝❤ ❛❧❧♦✇s ✉s t♦ ❡①t❡♥❞ t❤❡ ♣❧❛❝❡✲❝❡❧❧✴❛❝t✐♦♥ ♠♦❞❡❧ ❬✷❪ t♦ s♦❧✈❡ t❤❡ ❛❝t✐♦♥ s❡❧❡❝t✐♦♥ ♣❛r❛❞✐❣♠ ✇✐t❤♦✉t ✐♥✈♦❧✈✐♥❣ ❛♥② ❝♦♠♣❧❡① ♠❡❝❛♥✐s♠✳ ■♥ ❢✉t✉r❡ ✇♦r❦✱ ✇❡ ✇✐❧❧ ✐♥tr♦❞✉❝❡ ❛ ♣❧❛♥♥✐♥❣ ♣r♦❝❡ss ❜❛s❡❞ ♦♥ ❛ ❝♦❣♥✐t✐✈❡ ♠❛♣ ❬✸❪✱ ❛♥❞ t❤❡ ❝♦♥t❡①ts ✇✐❧❧ ❜❡ ❛❝t✐♥❣ ♦♥ t❤❡ tr❛♥s✐t✐♦♥s ❛♥❞ ♥♦ ❧♦♥❣❡r t❤❡ ♣❧❛❝❡ ❝❡❧❧s r❡❝♦❣♥✐t✐♦♥s✳ trajectory with big object trajectory with small object

drop place A _{pickup place}

drop place B

❋✐❣✉r❡ ✶✿ ❊①❛♠♣❧❡ ♦❢ ❝♦♥t❡①t✉❛❧ t❛s❦ ✐♥ ♥❛✈✐❣❛t✐♦♥✳

azimuth landmarks Place code

Place Cells Place Cells WTA /Action orientation action evaluation vigilance signal Motor control current orientation

Other modalities (arm, gripper, US, etc)

1 to all learning link topological excitatory link localized inhibitory link neuro-modulation link ❋✐❣✉r❡ ✷✿ ❆r❝❤✐t❡❝t✉r❡ ❢♦r ♣❧❛❝❡✲❝❡❧❧ ❜❛s❡❞ ♥❛✈✐❣❛t✐♦♥ ✇✐t❤ t❤❡ ❛❝t✐♦♥ ❡✈❛❧✉❛t✐♦♥✳ ✶ ✯ ❘❡❢❡r❡♥❝❡s ❬✶❪ ❏✳ P✳ ❇❛♥q✉❡t✱ P✳ ●❛✉ss✐❡r✱ ❏✳ ❈✳ ❉r❡❤❡r✱ ❈✳ ❏♦✉❧❛✐♥✱ ❆✳ ❘❡✈❡❧✱ ❛♥❞ ❲✳ ●✉♥t❤❡r✱ ✏❙♣❛❝❡✲t✐♠❡✱ ♦r❞❡r ❛♥❞ ❤✐❡r❛r❝❤② ✐♥ ❢r♦♥t♦✲❤✐♣♣♦❝❛♠❛❧ s②st❡♠✿ ❆ ♥❡✉r❛❧ ❜❛s✐s ♦❢ ♣❡rs♦♥❛❧✐t②✱✑ ■♥ ❈♦❣♥✐t✐✈❡ ❙❝✐❡♥❝❡ P❡rs♣❡❝t✐✈❡s ♦♥ P❡rs♦♥❛❧✐t② ❛♥❞ ❊♠♦t✐♦♥✱ ✈♦❧✳ ✹✱ ♣♣✳ ✶✷✸✕✶✽✾✱ ✶✾✾✼✳ ❬✷❪ ❈✳ ●✐♦✈❛♥♥❛♥❣❡❧✐✱ P✳ ●❛✉ss✐❡r✱ ❛♥❞ ●✳ ❉és✐❧❧❡s✱ ✏❘♦❜✉st ♠❛♣❧❡ss ♦✉t❞♦♦r ✈✐s✐♦♥✲❜❛s❡❞ ♥❛✈✐❣❛t✐♦♥✱✑ ✐♥ ■❊❊❊✴❘❙❏ ■♥t❡r♥❛t✐♦♥❛❧ ❈♦♥❢❡r❡♥❝❡ ♦♥ ■♥t❡❧❧✐❣❡♥t ❘♦❜♦ts ❛♥❞ s②st❡♠s✳ ❇❡✐❥✐♥❣✱ ❈❤✐♥❛✿ ■❊❊❊✱ ✷✵✵✻✳ ❬✸❪ ◆✳ ❈✉♣❡r❧✐❡r✱ ▼✳ ◗✉♦②✱ ❈✳ ●✐♦✈❛♥♥❛♥❣❡❧✐✱ P✳ ●❛✉ss✐❡r✱ ❛♥❞ P✳ ▲❛r♦q✉❡✱ ✏❚r❛♥s✐t✐♦♥ ❈❡❧❧s ❢♦r ◆❛✈✐❣❛t✐♦♥ ❛♥❞ P❧❛♥♥✐♥❣ ✐♥ ❛♥ ❯♥❦♥♦✇♥ ❊♥✈✐r♦♥♠❡♥t✱✑ ✐♥ ❋r♦♠ ❆♥✐♠❛❧s t♦ ❆♥✐♠❛ts ✾✳ ❙♣r✐♥❣❡r ❇❡r❧✐♥ ❍❡✐❞❡❧❜❡r❣✱ ✷✵✵✻✱ ✈♦❧✳ ✹✵✾✺✱ ❜♦♦❦ ♣❛rt ✭✇✐t❤ ♦✇♥ t✐t❧❡✮ ✷✹✱ ♣♣✳ ✷✽✻✕✷✾✼✳