Exploiting Causality for Selective Belief Filtering in Dynamic Bayesian Networks

Dynamic Bayesian networks (DBNs) are a general model for stochastic processes with partially observed states. Belief filtering in DBNs is the task of inferring the belief state (i.e. the probability distribution over process states) based on incomplete and noisy observations. This can be a hard problem in complex processes with large state spaces. In this article, we explore the idea of accelerating the filtering task by automatically exploiting causality in the process. We consider a specific type of causal relation, called passivity, which pertains to how state variables cause changes in other variables. We present the Passivity-based Selective Belief Filtering (PSBF) method, which maintains a factored belief representation and exploits passivity to perform selective updates over the belief factors. PSBF produces exact belief states under certain assumptions and approximate belief states otherwise, where the approximation error is bounded by the degree of uncertainty in the process. We show empirically, in synthetic processes with varying sizes and degrees of passivity, that PSBF is faster than several alternative methods while achieving competitive accuracy. Furthermore, we demonstrate how passivity occurs naturally in a complex system such as a multi-robot warehouse, and how PSBF can exploit this to accelerate the filtering task.Comment: 44 pages; final manuscript published in Journal of Artificial Intelligence Research (JAIR

Cerebral hierarchies: predictive processing, precision and the pulvinar

This paper considers neuronal architectures from a computational perspective and asks what aspects of neuroanatomy and neurophysiology can be disclosed by the nature of neuronal computations? In particular, we extend current formulations of the brain as an organ of inference—based upon hierarchical predictive coding—and consider how these inferences are orchestrated. In other words, what would the brain require to dynamically coordinate and contextualize its message passing to optimize its computational goals? The answer that emerges rests on the delicate (modulatory) gain control of neuronal populations that select and coordinate (prediction error) signals that ascend cortical hierarchies. This is important because it speaks to a hierarchical anatomy of extrinsic (between region) connections that form two distinct classes, namely a class of driving (first-order) connections that are concerned with encoding the content of neuronal representations and a class of modulatory (second-order) connections that establish context—in the form of the salience or precision ascribed to content. We explore the implications of this distinction from a formal perspective (using simulations of feature–ground segregation) and consider the neurobiological substrates of the ensuing precision-engineered dynamics, with a special focus on the pulvinar and attention

The Inhuman Overhang: On Differential Heterogenesis and Multi-Scalar Modeling

As a philosophical paradigm, differential heterogenesis offers us a novel descriptive vantage with which to inscribe Deleuze’s virtuality within the terrain of “differential becoming,” conjugating “pure saliences” so as to parse economies, microhistories, insurgencies, and epistemological evolutionary processes that can be conceived of independently from their representational form. Unlike Gestalt theory’s oppositional constructions, the advantage of this aperture is that it posits a dynamic context to both media and its analysis, rendering them functionally tractable and set in relation to other objects, rather than as sedentary identities. Surveying the genealogy of differential heterogenesis with particular interest in the legacy of Lautman’s dialectic, I make the case for a reading of the Deleuzean virtual that departs from an event-oriented approach, galvanizing Sarti and Citti’s dynamic a priori vis-à-vis Deleuze’s philosophy of difference. Specifically, I posit differential heterogenesis as frame with which to examine our contemporaneous epistemic shift as it relates to multi-scalar computational modeling while paying particular attention to neuro-inferential modes of inductive learning and homologous cognitive architecture. Carving a bricolage between Mark Wilson’s work on the “greediness of scales” and Deleuze’s “scales of reality”, this project threads between static ecologies and active externalism vis-à-vis endocentric frames of reference and syntactical scaffolding

Distributed field estimation in wireless sensor networks

This work takes into account the problem of distributed estimation of a physical field of interest through a wireless sesnor networks