26,553 research outputs found
The implications of embodiment for behavior and cognition: animal and robotic case studies
In this paper, we will argue that if we want to understand the function of
the brain (or the control in the case of robots), we must understand how the
brain is embedded into the physical system, and how the organism interacts with
the real world. While embodiment has often been used in its trivial meaning,
i.e. 'intelligence requires a body', the concept has deeper and more important
implications, concerned with the relation between physical and information
(neural, control) processes. A number of case studies are presented to
illustrate the concept. These involve animals and robots and are concentrated
around locomotion, grasping, and visual perception. A theoretical scheme that
can be used to embed the diverse case studies will be presented. Finally, we
will establish a link between the low-level sensory-motor processes and
cognition. We will present an embodied view on categorization, and propose the
concepts of 'body schema' and 'forward models' as a natural extension of the
embodied approach toward first representations.Comment: Book chapter in W. Tschacher & C. Bergomi, ed., 'The Implications of
Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-5
Information-theoretic bounds and phase transitions in clustering, sparse PCA, and submatrix localization
We study the problem of detecting a structured, low-rank signal matrix
corrupted with additive Gaussian noise. This includes clustering in a Gaussian
mixture model, sparse PCA, and submatrix localization. Each of these problems
is conjectured to exhibit a sharp information-theoretic threshold, below which
the signal is too weak for any algorithm to detect. We derive upper and lower
bounds on these thresholds by applying the first and second moment methods to
the likelihood ratio between these "planted models" and null models where the
signal matrix is zero. Our bounds differ by at most a factor of root two when
the rank is large (in the clustering and submatrix localization problems, when
the number of clusters or blocks is large) or the signal matrix is very sparse.
Moreover, our upper bounds show that for each of these problems there is a
significant regime where reliable detection is information- theoretically
possible but where known algorithms such as PCA fail completely, since the
spectrum of the observed matrix is uninformative. This regime is analogous to
the conjectured 'hard but detectable' regime for community detection in sparse
graphs.Comment: For sparse PCA and submatrix localization, we determine the
information-theoretic threshold exactly in the limit where the number of
blocks is large or the signal matrix is very sparse based on a conditional
second moment method, closing the factor of root two gap in the first versio
The equivalence of information-theoretic and likelihood-based methods for neural dimensionality reduction
Stimulus dimensionality-reduction methods in neuroscience seek to identify a
low-dimensional space of stimulus features that affect a neuron's probability
of spiking. One popular method, known as maximally informative dimensions
(MID), uses an information-theoretic quantity known as "single-spike
information" to identify this space. Here we examine MID from a model-based
perspective. We show that MID is a maximum-likelihood estimator for the
parameters of a linear-nonlinear-Poisson (LNP) model, and that the empirical
single-spike information corresponds to the normalized log-likelihood under a
Poisson model. This equivalence implies that MID does not necessarily find
maximally informative stimulus dimensions when spiking is not well described as
Poisson. We provide several examples to illustrate this shortcoming, and derive
a lower bound on the information lost when spiking is Bernoulli in discrete
time bins. To overcome this limitation, we introduce model-based dimensionality
reduction methods for neurons with non-Poisson firing statistics, and show that
they can be framed equivalently in likelihood-based or information-theoretic
terms. Finally, we show how to overcome practical limitations on the number of
stimulus dimensions that MID can estimate by constraining the form of the
non-parametric nonlinearity in an LNP model. We illustrate these methods with
simulations and data from primate visual cortex
Bayesian Inference of Log Determinants
The log-determinant of a kernel matrix appears in a variety of machine
learning problems, ranging from determinantal point processes and generalized
Markov random fields, through to the training of Gaussian processes. Exact
calculation of this term is often intractable when the size of the kernel
matrix exceeds a few thousand. In the spirit of probabilistic numerics, we
reinterpret the problem of computing the log-determinant as a Bayesian
inference problem. In particular, we combine prior knowledge in the form of
bounds from matrix theory and evidence derived from stochastic trace estimation
to obtain probabilistic estimates for the log-determinant and its associated
uncertainty within a given computational budget. Beyond its novelty and
theoretic appeal, the performance of our proposal is competitive with
state-of-the-art approaches to approximating the log-determinant, while also
quantifying the uncertainty due to budget-constrained evidence.Comment: 12 pages, 3 figure
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