Cyriel M. A. Pennartz

h-index67
2papers
16,046citations

2 Papers

2.0CVApr 12, 2024Code
Masked Image Modeling as a Framework for Self-Supervised Learning across Eye Movements

Robin Weiler, Matthias Brucklacher, Cyriel M. A. Pennartz et al.

To make sense of their surroundings, intelligent systems must transform complex sensory inputs to structured codes that are reduced to task-relevant information such as object category. Biological agents achieve this in a largely autonomous manner, presumably via self-supervised learning. Whereas previous attempts to model the underlying mechanisms were largely discriminative in nature, there is ample evidence that the brain employs a generative model of the world. Here, we propose that eye movements, in combination with the focused nature of primate vision, constitute a generative, self-supervised task of predicting and revealing visual information. We construct a proof-of-principle model starting from the framework of masked image modeling (MIM), a common approach in deep representation learning. To do so, we analyze how core components of MIM such as masking technique and data augmentation influence the formation of category-specific representations. This allows us not only to better understand the principles behind MIM, but to then reassemble a MIM more in line with the focused nature of biological perception. We find that MIM disentangles neurons in latent space without explicit regularization, a property that has been suggested to structure visual representations in primates. Together with previous findings of invariance learning, this highlights an interesting connection of MIM to latent regularization approaches for self-supervised learning. The source code is available under https://github.com/RobinWeiler/FocusMIM

3.5ROSep 16, 2019
MuPNet: Multi-modal Predictive Coding Network for Place Recognition by Unsupervised Learning of Joint Visuo-Tactile Latent Representations

Oliver Struckmeier, Kshitij Tiwari, Shirin Dora et al.

Extracting and binding salient information from different sensory modalities to determine common features in the environment is a significant challenge in robotics. Here we present MuPNet (Multi-modal Predictive Coding Network), a biologically plausible network architecture for extracting joint latent features from visuo-tactile sensory data gathered from a biomimetic mobile robot. In this study we evaluate MuPNet applied to place recognition as a simulated biomimetic robot platform explores visually aliased environments. The F1 scores demonstrate that its performance over prior hand-crafted sensory feature extraction techniques is equivalent under controlled conditions, with significant improvement when operating in novel environments.