Learning visual-motor Cell Assemblies for the iCub robot using a neuroanatomically grounded neural network

Abstract

In this work we describe how an existing neural model for learning Cell Assemblies (CAs) across multiple neuroanatomical brain areas has been integrated with a humanoid robot simulation to explore the learning of associations of visual and motor modalities. The results show that robust CAs are learned to enable pattern completion to select a correct motor response when only visual input is presented. We also show, with some parameter tuning and the pre-processing of more realistic patterns taken from images of real objects and robot poses the network can act as a controller for the robot in visuo-motor association tasks. This provides the basis for further neurorobotic experiments on grounded language learning.