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A basal ganglia inspired model of action selection evaluated in a robotic survival task

Abstract : The basal ganglia system has been proposed as a possible neural substrate for action selection in the vertebrate brain. We describe a robotic implementation of a model of the basal ganglia and demonstrate the capacity of this system to generate adaptive switching between several acts when embedded in a robot that has to ‘survive' in a laboratory environment. A comparison between this brain-inspired selection mechanism and classical `winner-takes-all\' selection highlights some adaptive properties specific to the model, such as avoidance of dithering and energy-saving. These properties derive, in part, from the capacity of simulated basal ganglia-thalamo-cortical loops to generate appropriate ‘behavioural persistence'.
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https://hal.archives-ouvertes.fr/hal-00016392
Contributor : Benoît Girard <>
Submitted on : Tuesday, January 3, 2006 - 11:32:44 AM
Last modification on : Thursday, March 18, 2021 - 1:36:04 PM
Long-term archiving on: : Saturday, April 3, 2010 - 8:00:42 PM

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Benoît Girard, Vincent Cuzin, Agnès Guillot, Kevin Gurney, Tony Prescott. A basal ganglia inspired model of action selection evaluated in a robotic survival task. Journal of Integrative Neuroscience, World Scientific Publishing, 2003, 2 (3), pp.179-200. ⟨10.1142/S0219635203000299⟩. ⟨hal-00016392⟩

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