{"title":"AngoraPy:用于模拟拟人目标驱动传感器运动系统的 Python 工具包","authors":"Tonio Weidler, Rainer Goebel, M. Senden","doi":"10.3389/fninf.2023.1223687","DOIUrl":null,"url":null,"abstract":"Goal-driven deep learning increasingly supplements classical modeling approaches in computational neuroscience. The strength of deep neural networks as models of the brain lies in their ability to autonomously learn the connectivity required to solve complex and ecologically valid tasks, obviating the need for hand-engineered or hypothesis-driven connectivity patterns. Consequently, goal-driven models can generate hypotheses about the neurocomputations underlying cortical processing that are grounded in macro- and mesoscopic anatomical properties of the network's biological counterpart. Whereas, goal-driven modeling is already becoming prevalent in the neuroscience of perception, its application to the sensorimotor domain is currently hampered by the complexity of the methods required to train models comprising the closed sensation-action loop. This paper describes AngoraPy, a Python library that mitigates this obstacle by providing researchers with the tools necessary to train complex recurrent convolutional neural networks that model the human sensorimotor system. To make the technical details of this toolkit more approachable, an illustrative example that trains a recurrent toy model on in-hand object manipulation accompanies the theoretical remarks. An extensive benchmark on various classical, 3D robotic, and anthropomorphic control tasks demonstrates AngoraPy's general applicability to a wide range of tasks. Together with its ability to adaptively handle custom architectures, the flexibility of this toolkit demonstrates its power for goal-driven sensorimotor modeling.","PeriodicalId":12462,"journal":{"name":"Frontiers in Neuroinformatics","volume":"8 7","pages":""},"PeriodicalIF":2.5000,"publicationDate":"2023-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"AngoraPy: A Python toolkit for modeling anthropomorphic goal-driven sensorimotor systems\",\"authors\":\"Tonio Weidler, Rainer Goebel, M. Senden\",\"doi\":\"10.3389/fninf.2023.1223687\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Goal-driven deep learning increasingly supplements classical modeling approaches in computational neuroscience. The strength of deep neural networks as models of the brain lies in their ability to autonomously learn the connectivity required to solve complex and ecologically valid tasks, obviating the need for hand-engineered or hypothesis-driven connectivity patterns. Consequently, goal-driven models can generate hypotheses about the neurocomputations underlying cortical processing that are grounded in macro- and mesoscopic anatomical properties of the network's biological counterpart. Whereas, goal-driven modeling is already becoming prevalent in the neuroscience of perception, its application to the sensorimotor domain is currently hampered by the complexity of the methods required to train models comprising the closed sensation-action loop. This paper describes AngoraPy, a Python library that mitigates this obstacle by providing researchers with the tools necessary to train complex recurrent convolutional neural networks that model the human sensorimotor system. To make the technical details of this toolkit more approachable, an illustrative example that trains a recurrent toy model on in-hand object manipulation accompanies the theoretical remarks. An extensive benchmark on various classical, 3D robotic, and anthropomorphic control tasks demonstrates AngoraPy's general applicability to a wide range of tasks. 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AngoraPy: A Python toolkit for modeling anthropomorphic goal-driven sensorimotor systems
Goal-driven deep learning increasingly supplements classical modeling approaches in computational neuroscience. The strength of deep neural networks as models of the brain lies in their ability to autonomously learn the connectivity required to solve complex and ecologically valid tasks, obviating the need for hand-engineered or hypothesis-driven connectivity patterns. Consequently, goal-driven models can generate hypotheses about the neurocomputations underlying cortical processing that are grounded in macro- and mesoscopic anatomical properties of the network's biological counterpart. Whereas, goal-driven modeling is already becoming prevalent in the neuroscience of perception, its application to the sensorimotor domain is currently hampered by the complexity of the methods required to train models comprising the closed sensation-action loop. This paper describes AngoraPy, a Python library that mitigates this obstacle by providing researchers with the tools necessary to train complex recurrent convolutional neural networks that model the human sensorimotor system. To make the technical details of this toolkit more approachable, an illustrative example that trains a recurrent toy model on in-hand object manipulation accompanies the theoretical remarks. An extensive benchmark on various classical, 3D robotic, and anthropomorphic control tasks demonstrates AngoraPy's general applicability to a wide range of tasks. Together with its ability to adaptively handle custom architectures, the flexibility of this toolkit demonstrates its power for goal-driven sensorimotor modeling.
期刊介绍:
Frontiers in Neuroinformatics publishes rigorously peer-reviewed research on the development and implementation of numerical/computational models and analytical tools used to share, integrate and analyze experimental data and advance theories of the nervous system functions. Specialty Chief Editors Jan G. Bjaalie at the University of Oslo and Sean L. Hill at the École Polytechnique Fédérale de Lausanne are supported by an outstanding Editorial Board of international experts. This multidisciplinary open-access journal is at the forefront of disseminating and communicating scientific knowledge and impactful discoveries to researchers, academics and the public worldwide.
Neuroscience is being propelled into the information age as the volume of information explodes, demanding organization and synthesis. Novel synthesis approaches are opening up a new dimension for the exploration of the components of brain elements and systems and the vast number of variables that underlie their functions. Neural data is highly heterogeneous with complex inter-relations across multiple levels, driving the need for innovative organizing and synthesizing approaches from genes to cognition, and covering a range of species and disease states.
Frontiers in Neuroinformatics therefore welcomes submissions on existing neuroscience databases, development of data and knowledge bases for all levels of neuroscience, applications and technologies that can facilitate data sharing (interoperability, formats, terminologies, and ontologies), and novel tools for data acquisition, analyses, visualization, and dissemination of nervous system data. Our journal welcomes submissions on new tools (software and hardware) that support brain modeling, and the merging of neuroscience databases with brain models used for simulation and visualization.