Autonomy Incubator Seminar Series: Neuromorphic solutions for autonomous land and aerial vehicles

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Information about Autonomy Incubator Seminar Series: Neuromorphic solutions for autonomous...
Technology

Published on March 9, 2014

Author: AutonomyIncubator

Source: slideshare.net

Neuromorphic solutions for autonomous land and aerial vehicles Massimiliano Versace CEO, Neurala Inc. Director, Boston University Neuromorphics Lab www.neurala.com Copyright 2013 Neurala, Inc. nl.bu.edu ● Proprietary and Confidential ● versace@neurala.com www.neurala.com ● +1-617-418-6161 1

To produce virtual and robotic agents that autonomously learn to perform useful tasks Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 2

Why are not robots everywhere? limited intelligence 1:1 ratio robot/ human operator barriers to adoption Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 3

Three ingredients for success Smart mind Powerful brain Copyright 2013 Neurala, Inc. Inexpensive body ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 4

The body Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 5

Low cost of sensors, new actuators navigation accelerometer gyroscope magnetometer front and rear cameras NFC barometer speaker microphone proximity light sensor Bluetooth GPS WiFi + cellular humidity temperature Copyright 2013 Neurala, Inc. vision audition ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 6

Three ingredients for success Smart mind Powerful brain Copyright 2013 Neurala, Inc. Inexpensive body ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 7

Many robots, many minds R&D $$$ $$ensors Copyright 2013 Neurala, Inc. R&D $$ $ensors ● Proprietary and Confidential ● R&D $ www.neurala.com ● +1-617-418-6161 8

One mind for autonomous robots? learning parallel processing Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 9

Why do we LOVE this mess??!! Neuromorphic = of the form of neurons, brains Even in apparently simple tasks, many brain functions work in synergy to help us solve otherwise VERY HARD PROBLEMS The brain does not work in silos of competences. E.g., as you move around in the world, vision helps navigation (e.g., landmark recognition, obstacle avoidance), navigation helps vision (what to expect in one environment vs. another). Ever thought why you can’t recognize the teller of your grocery at the movie theater? Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 10

“Stovepiped” sensemakig Rock detector Sky detector & cloud detector Dust devil detector Onboard Autonomous Science Investigation System for Opportunistic Rover Science, Castano et al., 2007 Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 11

Extremely un-stovepiped sensemaking! scene recognition environment map with objects scenes help define objects map helps to find objects object recognition object help define scenes objects help orient (e.g. Citgo) to: obstacle avoidance segmentation optic flow stereo & depth coarse view bias where to look (data acquisition) Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 12

Feedforward and feedback processing One key aspect of neuromorphic computing is feedback processing Feedback happens all over the brain Brain is a massively recurrent architecture E.g. in the visual system, for each output fiber from thalamus to the visual cortex, the thalamus receives ~10 feedback fibers 10X What is this feedback for? Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 13

Mark coming to the conference room New speakers (Auditory) Desk 0.5 cm lower (Proprioceptive) Leave your desk.. New post-it (Visual) ..walk to the conference room.. Different door knob (Tactile) Chanel #5 smell ..sit in the conference room (Olfactory) Feedback information flow: Feedforward information flow: - leave the desk for theare MATCHING memory-based expectations with sensory At every moment, you talk - walk down the corridor to the conference room (and other cortical) INPUT - find the conference room, find a free spot as close to the exit as humanely EXPECTATION EXPECTATION EXPECTATION EXPECTATION EXPECTATION possible INPUT INPUT Copyright 2013 Neurala, Inc. INPUT ● Proprietary and Confidential INPUT ● INPUT www.neurala.com ● +1-617-418-6161 14

Feedback focuses on anomalous information The president of the United States of America & ? ? Match memory with current input Automatically and effortlessly focus on crucial differences Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 15

Predictive feedback is ubiquitous in the brain The sentence “eel is on the ...” is preceded by white noise orange wagon wheel is on the wagon shoe eel is on the ... peel is on the orange heel is on the shoe Percept may be determined by the sound that one expects to hear in auditory context based on previous language experiences Expectations amplify consistent components of the white noise, while suppressing inconsistent components Copyright 2013 Neurala, Inc. ● Proprietary and Confidential ● www.neurala.com ● +1-617-418-6161 16

Adaptive Resonance Theory MATCH ADAPTIVE RESONANCE THEORY (ART) ATTENTIONAL SUBSYSTEM F2 ORIENTING SUBSYSTEM Σ Σ Y RESET y + Math behind neuromorphic systems? +

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