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(Neural Computation. 2001;13:2201-2220.)
© 2001 The MIT Press

Letter

MOSAIC Model for Sensorimotor Learning and Control

Masahiko Haruno

ATR Human Information Processing Research Laboratories, Seika-cho, Soraku-gun, Kyoto 619-02, Japan

Daniel M. Wolpert

Sobell Department of Neurophysiology, Institute of Neurology, University College London, London WC1N 3BG, U.K.

Mitsuo Kawato

Dynamic Brain Project, ERATO, JST, Kyoto, Japan, and ATR Human Information Processing Research Laboratories, Seika-cho, Soraku-gun, Kyoto 619-02, Japan

Humans demonstrate a remarkable ability to generate accurate and appropriate motor behavior under many different and often uncertain environmental conditions. We previously proposed a new modular architecture, the modular selection and identification for control (MOSAIC) model, for motor learning and control based on multiple pairs of forward (predictor) and inverse (controller) models. The architecture simultaneously learns the multiple inverse models necessary for control as well as how to select the set of inverse models appropriate for a given environment. It combines both feedforward and feedback sensorimotor information so that the controllers can be selected both prior to movement and subsequently during movement. This article extends and evaluates the MOSAIC architecture in the following respects. The learning in the architecture was implemented by both the original gradient-descent method and the expectation-maximization (EM) algorithm. Unlike gradient descent, the newly derived EM algorithm is robust to the initial starting conditions and learning parameters. Second, simulations of an object manipulation task prove that the architecture can learn to manipulate multiple objects and switch between them appropriately. Moreover, after learning, the model shows generalization to novel objects whose dynamics lie within the polyhedra of already learned dynamics. Finally, when each of the dynamics is associated with a particular object shape, the model is able to select the appropriate controller before movement execution. When presented with a novel shape-dynamic pairing, inappropriate activation of modules is observed followed by on-line correction.




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