Emergence of Functional Hierarchy in a Multiple Timescale Neural Network Model: A Humanoid Robot Experiment
Figure 6
Changes in context state space associated with changes in object position.
Changes of context activation during each behavior at every position are shown in a 2 dimensional space based on the results of PCA analysis. The four graphs on the left side and single graph on the right side correspond to fast context activities and slow context activities, respectively. State changes of the fast context units for each behavior exhibit a particular structure which shifts with the object position. On the other hand, activity of the slow context units for a particular behavioral task exhibited very little location-dependent variation. UD: up-down, LR: left-right, BF: backward-forward and Touch: touch with single hand.