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Add operant control of rewards based on velocity #568

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Add operant control of rewards based on velocity #568

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1f3f23e
feat: operant grid stages with velocity-based abort source
galenlynch Jun 1, 2026
7511f7b
fix: regenerate replenishment_depletion_offset schema for abort_veloc…
galenlynch Jun 2, 2026
13d2af9
chore: regenerate schema
galenlynch Jun 2, 2026
2819255
feat: attempt to add operant control velocity
galenlynch Jun 2, 2026
834948e
chore: fix types in bonsai workflow
galenlynch Jun 2, 2026
17293d4
docs: document abort_velocity_threshold interaction with the stop thr…
galenlynch Jun 2, 2026
f34fdd2
chore: trim redundant comments on the operant-abort PR
galenlynch Jun 2, 2026
751c80c
chore: regenerate schema
galenlynch Jun 2, 2026
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14 changes: 14 additions & 0 deletions schema/aind_behavior_vr_foraging.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3280,6 +3280,20 @@
"minimum": 0,
"title": "Grace Distance Threshold",
"type": "number"
},
"abort_velocity_threshold": {
"default": null,
"description": "Velocity (cm/s) above which an in-progress operant choice is aborted. This is an ADDITIONAL abort source: the choice aborts if velocity exceeds this OR displacement exceeds grace_distance_threshold OR the animal leaves the reward site. None disables only the velocity source (grace + leave-site still apply). Interaction with the stop threshold: this is evaluated on the SAME filtered velocity signal as stop detection, which locks a choice when velocity falls BELOW StopVelocityThreshold (UpdaterTarget.STOP_VELOCITY_THRESHOLD, seeded from the position-control velocity_threshold and shaped within/across sessions). The two gates partition the same velocity axis in opposite directions, so this value must be >= the operative StopVelocityThreshold: if it is lower, the band (abort_velocity_threshold, StopVelocityThreshold) lets the animal lock a stop while already too fast to hold it, forfeiting every such choice. Because StopVelocityThreshold is dynamic (e.g. shaped 60 -> 8 cm/s by a GAIN updater) whereas this is a fixed absolute, only enable the velocity abort on stages where the stop threshold is already floored below it (e.g. a static stop threshold of 8 with this set to 15); never pair a low fixed abort with an actively-shaped, still-high stop threshold.",
"oneOf": [
{
"minimum": 0,
"type": "number"
},
{
"type": "null"
}
],
"title": "Abort Velocity Threshold"
}
},
"title": "OperantLogic",
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24 changes: 16 additions & 8 deletions schema/depletion.json
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Scalar",
Expand Down Expand Up @@ -402,7 +403,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -745,7 +747,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1051,7 +1054,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1263,7 +1267,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1553,7 +1558,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1765,7 +1771,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1977,7 +1984,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
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24 changes: 16 additions & 8 deletions schema/depletion_stops_offset.json
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Scalar",
Expand Down Expand Up @@ -402,7 +403,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -745,7 +747,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1051,7 +1054,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1263,7 +1267,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1553,7 +1558,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1765,7 +1771,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1977,7 +1984,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
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24 changes: 16 additions & 8 deletions schema/depletion_stops_rate.json
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Scalar",
Expand Down Expand Up @@ -402,7 +403,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -745,7 +747,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1051,7 +1054,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1263,7 +1267,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1553,7 +1558,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1765,7 +1771,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down Expand Up @@ -1977,7 +1984,8 @@
"scaling_parameters": null
},
"time_to_collect_reward": 100000.0,
"grace_distance_threshold": 10.0
"grace_distance_threshold": 10.0,
"abort_velocity_threshold": null
},
"delay": {
"family": "Normal",
Expand Down
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