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Michael Ferguson

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3 papers
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3

ICLR Conference 2023 Conference Paper

Aligning Model and Macaque Inferior Temporal Cortex Representations Improves Model-to-Human Behavioral Alignment and Adversarial Robustness

  • Joel Dapello
  • Kohitij Kar
  • Martin Schrimpf
  • Robert Baldwin Geary
  • Michael Ferguson
  • David D. Cox
  • James J. DiCarlo

While some state-of-the-art artificial neural network systems in computer vision are strikingly accurate models of the corresponding primate visual processing, there are still many discrepancies between these models and the behavior of primates on object recognition tasks. Many current models suffer from extreme sensitivity to adversarial attacks and often do not align well with the image-by-image behavioral error patterns observed in humans. Previous research has provided strong evidence that primate object recognition behavior can be very accurately predicted by neural population activity in the inferior temporal (IT) cortex, a brain area in the late stages of the visual processing hierarchy. Therefore, here we directly test whether making the late stage representations of models more similar to that of macaque IT produces new models that exhibit more robust, primate-like behavior. We conducted chronic, large-scale multi-electrode recordings across the IT cortex in six non-human primates (rhesus macaques). We then use these data to fine-tune (end-to-end) the model "IT" representations such that they are more aligned with the biological IT representations, while preserving accuracy on object recognition tasks. We generate a cohort of models with a range of IT similarity scores validated on held-out animals across two image sets with distinct statistics. Across a battery of optimization conditions, we observed a strong correlation between the models' IT-likeness and alignment with human behavior, as well as an increase in its adversarial robustness. We further assessed the limitations of this approach and find that the improvements in behavioral alignment and adversarial robustness generalize across different image statistics, but not to object categories outside of those covered in our IT training set. Taken together, our results demonstrate that building models that are more aligned with the primate brain leads to more robust and human-like behavior, and call for larger neural data-sets to further augment these gains.

AAAI Conference 2011 Conference Paper

Playing Chess with a Human-Scale Mobile Manipulator

  • Michael Ferguson
  • Kim Gero
  • Joao Salles
  • James Weis

This paper describes our efforts preparing a mobile manipulator for the 2011 AAAI Small Scale Manipulation Challenge. We describe our approach to building a lowcost mobile manipulator for human-scale environments using ROS and off-the-shelf sensory and servos.

TCS Journal 1996 Journal Article

On the operational semantics of nondeterminism and divergence

  • Hakan Erdogmus
  • Robert Johnston
  • Michael Ferguson

An operational model of nondeterministic processes coupled with a novel theory of divergence is presented. The operational model represents internal nondeterminism without using explicit internal transitions. Here the notion of internal state effectively replaces the familiar notion of internal transition, giving rise to an alternative operational view of processes: the weak process. Roughly, a weak process is a collection of stable internal states together with a set of transitions each of which is defined from an internal state to another weak process. Internal nondeterminism arises from such refinement of processes into multiple internal states. A simple extension to the basic weak process model gives rise to an elaborate operational theory of divergence. According to this theory, the ability of a process to undertake an infinite internal computation which is pathological, or persistent, is distinguished from its ability to undertake an infinite internal computation which is not. Although applicable to process algebraic languages with an internal action construct, the resulting model is most suitable for supplying operational semantics to process algebras which express internal nondeterminism by an internal choice construct. The distinction between the two forms of divergence is in particular taken into account when the hiding construct of such a process algebra is assigned a weak process semantics.

v2026.09.13