6,964 research outputs found
Active Sensing as Bayes-Optimal Sequential Decision Making
Sensory inference under conditions of uncertainty is a major problem in both
machine learning and computational neuroscience. An important but poorly
understood aspect of sensory processing is the role of active sensing. Here, we
present a Bayes-optimal inference and control framework for active sensing,
C-DAC (Context-Dependent Active Controller). Unlike previously proposed
algorithms that optimize abstract statistical objectives such as information
maximization (Infomax) [Butko & Movellan, 2010] or one-step look-ahead accuracy
[Najemnik & Geisler, 2005], our active sensing model directly minimizes a
combination of behavioral costs, such as temporal delay, response error, and
effort. We simulate these algorithms on a simple visual search task to
illustrate scenarios in which context-sensitivity is particularly beneficial
and optimization with respect to generic statistical objectives particularly
inadequate. Motivated by the geometric properties of the C-DAC policy, we
present both parametric and non-parametric approximations, which retain
context-sensitivity while significantly reducing computational complexity.
These approximations enable us to investigate the more complex problem
involving peripheral vision, and we notice that the difference between C-DAC
and statistical policies becomes even more evident in this scenario.Comment: Scheduled to appear in UAI 201
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
Neuronal Synchronization Can Control the Energy Efficiency of Inter-Spike Interval Coding
The role of synchronous firing in sensory coding and cognition remains
controversial. While studies, focusing on its mechanistic consequences in
attentional tasks, suggest that synchronization dynamically boosts sensory
processing, others failed to find significant synchronization levels in such
tasks. We attempt to understand both lines of evidence within a coherent
theoretical framework. We conceptualize synchronization as an independent
control parameter to study how the postsynaptic neuron transmits the average
firing activity of a presynaptic population, in the presence of
synchronization. We apply the Berger-Levy theory of energy efficient
information transmission to interpret simulations of a Hodgkin-Huxley-type
postsynaptic neuron model, where we varied the firing rate and synchronization
level in the presynaptic population independently. We find that for a fixed
presynaptic firing rate the simulated postsynaptic interspike interval
distribution depends on the synchronization level and is well-described by a
generalized extreme value distribution. For synchronization levels of 15% to
50%, we find that the optimal distribution of presynaptic firing rate,
maximizing the mutual information per unit cost, is maximized at ~30%
synchronization level. These results suggest that the statistics and energy
efficiency of neuronal communication channels, through which the input rate is
communicated, can be dynamically adapted by the synchronization level.Comment: 47 pages, 14 figures, 2 Table
Probabilistic inverse optimal control with local linearization for non-linear partially observable systems
Inverse optimal control methods can be used to characterize behavior in
sequential decision-making tasks. Most existing work, however, requires the
control signals to be known, or is limited to fully-observable or linear
systems. This paper introduces a probabilistic approach to inverse optimal
control for stochastic non-linear systems with missing control signals and
partial observability that unifies existing approaches. By using an explicit
model of the noise characteristics of the sensory and control systems of the
agent in conjunction with local linearization techniques, we derive an
approximate likelihood for the model parameters, which can be computed within a
single forward pass. We evaluate our proposed method on stochastic and
partially observable version of classic control tasks, a navigation task, and a
manual reaching task. The proposed method has broad applicability, ranging from
imitation learning to sensorimotor neuroscience
Recent advances in directional statistics
Mainstream statistical methodology is generally applicable to data observed
in Euclidean space. There are, however, numerous contexts of considerable
scientific interest in which the natural supports for the data under
consideration are Riemannian manifolds like the unit circle, torus, sphere and
their extensions. Typically, such data can be represented using one or more
directions, and directional statistics is the branch of statistics that deals
with their analysis. In this paper we provide a review of the many recent
developments in the field since the publication of Mardia and Jupp (1999),
still the most comprehensive text on directional statistics. Many of those
developments have been stimulated by interesting applications in fields as
diverse as astronomy, medicine, genetics, neurology, aeronautics, acoustics,
image analysis, text mining, environmetrics, and machine learning. We begin by
considering developments for the exploratory analysis of directional data
before progressing to distributional models, general approaches to inference,
hypothesis testing, regression, nonparametric curve estimation, methods for
dimension reduction, classification and clustering, and the modelling of time
series, spatial and spatio-temporal data. An overview of currently available
software for analysing directional data is also provided, and potential future
developments discussed.Comment: 61 page
Common Bayesian Models for Common Cognitive Issues
How can an incomplete and uncertain model of the environment be used to perceive, infer, decide and act efficiently? This is the challenge that both living and artificial cognitive systems have to face. Symbolic logic is, by its nature, unable to deal with this question. The subjectivist approach to probability is an extension to logic that is designed specifically to face this challenge. In this paper, we review a number of frequently encountered cognitive issues and cast them into a common Bayesian formalism. The concepts we review are ambiguities, fusion, multimodality, conflicts, modularity, hierarchies and loops. First, each of these concepts is introduced briefly using some examples from the neuroscience, psychophysics or robotics literature. Then, the concept is formalized using a template Bayesian model. The assumptions and common features of these models, as well as their major differences, are outlined and discusse
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