22,801 research outputs found
Information Processing, Computation and Cognition
Computation and information processing are among the most fundamental notions in cognitive science. They are also among the most imprecisely discussed. Many cognitive scientists take it for granted that cognition involves computation, information processing, or both ā although others disagree vehemently. Yet different cognitive scientists use ācomputationā and āinformation processingā to mean different things, sometimes without realizing that they do. In addition, computation and information processing are surrounded by several myths; first and foremost, that they are the same thing. In this paper, we address this unsatisfactory state of affairs by presenting a general and theory-neutral account of computation and information processing. We also apply our framework by analyzing the relations between computation and information processing on one hand and classicism and connectionism/computational neuroscience on the other. We defend the relevance to cognitive science of both computation, at least in a generic sense, and information processing, in three important senses of the term. Our account advances several foundational debates in cognitive science by untangling some of their conceptual knots in a theory-neutral way. By leveling the playing field, we pave the way for the future resolution of the debatesā empirical aspects
Adaptive Information Gathering via Imitation Learning
In the adaptive information gathering problem, a policy is required to select
an informative sensing location using the history of measurements acquired thus
far. While there is an extensive amount of prior work investigating effective
practical approximations using variants of Shannon's entropy, the efficacy of
such policies heavily depends on the geometric distribution of objects in the
world. On the other hand, the principled approach of employing online POMDP
solvers is rendered impractical by the need to explicitly sample online from a
posterior distribution of world maps.
We present a novel data-driven imitation learning framework to efficiently
train information gathering policies. The policy imitates a clairvoyant oracle
- an oracle that at train time has full knowledge about the world map and can
compute maximally informative sensing locations. We analyze the learnt policy
by showing that offline imitation of a clairvoyant oracle is implicitly
equivalent to online oracle execution in conjunction with posterior sampling.
This observation allows us to obtain powerful near-optimality guarantees for
information gathering problems possessing an adaptive sub-modularity property.
As demonstrated on a spectrum of 2D and 3D exploration problems, the trained
policies enjoy the best of both worlds - they adapt to different world map
distributions while being computationally inexpensive to evaluate.Comment: Robotics Science and Systems, 201
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