Incorporation of visual-related self-action signals can help neural networks learn invariance. We describe a method that can produce a network with invariance to changes in visual input caused by eye movements and covert attention shifts. Training of the network is controlled by signals associated with eye movements and covert attention shifting. A temporal perceptual stability constraint is used to drive the output of the network toward remaining constant across temporal sequences of saccadicmotions and covert attention shifts. We use a four-layer neural network model to perform the position-invariant extraction of local features and temporal integration of invariant presentations of local features in a bottom-up structure. We present results on both simulated data and real images to demonstrate that our network can acquire both position and attention shift invariance.

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