A Behavioral and Neural Evaluation of Prospective Decision-Making under Risk

Making the best choice when faced with a chain of decisions requires a person to judge both anticipated outcomes and future actions. Although economic decision-making models account for both risk and reward in single-choice contexts, there is a dearth of similar knowledge about sequential choice. Classical utility-based models assume that decision-makers select and follow an optimal predetermined strategy, regardless of the particular order in which options are presented. An alternative model involves continuously reevaluating decision utilities, without prescribing a specific future set of choices. Here, using behavioral and functional magnetic resonance imaging (fMRI) data, we studied human subjects in a sequential choice task and use these data to compare alternative decision models of valuation and strategy selection. We provide evidence that subjects adopt a model of reevaluating decision utilities, in which available strategies are continuously updated and combined in assessing action values. We validate this model by using simultaneously acquired fMRI data to show that sequential choice evokes a pattern of neural response consistent with a tracking of anticipated distribution of future reward, as expected in such a model. Thus, brain activity evoked at each decision point reflects the expected mean, variance, and skewness of possible payoffs, consistent with the idea that sequential choice evokes a prospective evaluation of both available strategies and possible outcomes

Multi-target tracking using appearance models for identity maintenance

This thesis considers perception systems for urban environments. It focuses on the task of tracking dynamic objects and in particular on methods that can maintain the identities of targets through periods of ambiguity. Examples of such ambiguous situations occur when targets interact with each other, or when they are occluded by other objects or the environment. With the development of self driving cars, the push for autonomous delivery of packages, and an increasing use of technology for security, surveillance and public-safety applications, robust perception in crowded urban spaces is more important than ever before. A critical part of perception systems is the ability to understand the motion of objects in a scene. Tracking strategies that merge closely-spaced targets together into groups have been shown to offer improved robustness, but in doing so sacrifice the concept of target identity. Additionally, the primary sensor used for the tracking task may not provide the information required to reason about the identity of individual objects. There are three primary contributions in this work. The first is the development of 3D lidar tracking methods with improved ability to track closely-spaced targets and that can determine when target identities have become ambiguous. Secondly, this thesis defines appearance models suitable for the task of determining the identities of previously-observed targets, which may include the use of data from additional sensing modalities. The final contribution of this work is the combination of lidar tracking and appearance modelling, to enable the clarification of target identities in the presence of ambiguities caused by scene complexity. The algorithms presented in this work are validated on both carefully controlled and unconstrained datasets. The experiments show that in complex dynamic scenes with interacting targets, the proposed methods achieve significant improvements in tracking performance

Change blindness: eradication of gestalt strategies

Arrays of eight, texture-defined rectangles were used as stimuli in a one-shot change blindness (CB) task where there was a 50% chance that one rectangle would change orientation between two successive presentations separated by an interval. CB was eliminated by cueing the target rectangle in the first stimulus, reduced by cueing in the interval and unaffected by cueing in the second presentation. This supports the idea that a representation was formed that persisted through the interval before being 'overwritten' by the second presentation (Landman et al, 2003 Vision Research 43149–164]. Another possibility is that participants used some kind of grouping or Gestalt strategy. To test this we changed the spatial position of the rectangles in the second presentation by shifting them along imaginary spokes (by ±1 degree) emanating from the central fixation point. There was no significant difference seen in performance between this and the standard task [F(1,4)=2.565, p=0.185]. This may suggest two things: (i) Gestalt grouping is not used as a strategy in these tasks, and (ii) it gives further weight to the argument that objects may be stored and retrieved from a pre-attentional store during this task

ADAPTIVE BEAMSTEERING COGNITIVE RADAR WITH INTEGRATED SEARCH-AND-TRACK OF SWARM TARGETS

Unlike traditional radar systems, cognitive radars are designed to employ a perception-action cycle to continuously adapt to their environment. Adaptive beamsteering cognitive radar (AB-CRr) systems seek to improve detection and tracking performance by formulating a beam placement strategy adapted to their environment. Rather than employing traditional raster scanning in a search-scene, AB-CRr builds a probabilistic model of the target environment that enables it to more efficiently employ its limited resources to locate and track targets. In this thesis, we investigate methods for adapting the AB-CRr framework to detect and track large target swarms. This is achieved by integrating the properties of correlated-motion swarms into both the radar tracking model and AB-CRr’s underlying dynamic probability model. The results demonstrate that AB-CRr is capable of adapting its beamsteering strategy to efficiently perform resource balancing between search and tracking applications, while taking advantage of group structure and intra-swarm target correlation to resist large swarms overloading available resources.Ensign, United States NavyApproved for public release; distribution is unlimited

Changes in structural network topology correlate with severity of hallucinatory behavior in Parkinson's disease

Inefficient integration between bottom-up visual input and higher order visual processing regions is implicated in visual hallucinations in Parkinson's disease (PD). Here, we investigated white matter contributions to this perceptual imbalance hypothesis. Twenty-nine PD patients were assessed for hallucinatory behavior. Hallucination severity was correlated to connectivity strength of the network using the network-based statistic approach. The results showed that hallucination severity was associated with reduced connectivity within a subnetwork that included the majority of the diverse club. This network showed overall greater between-module scores compared with nodes not associated with hallucination severity. Reduced between-module connectivity in the lateral occipital cortex, insula, and pars orbitalis and decreased within-module connectivity in the prefrontal, somatosensory, and primary visual cortices were associated with hallucination severity. Conversely, hallucination severity was associated with increased between- and within-module connectivity in the orbitofrontal and temporal cortex, as well as regions comprising the dorsal attentional and default mode network. These results suggest that hallucination severity is associated with marked alterations in structural network topology with changes in participation along the perceptual hierarchy. This may result in the inefficient transfer of information that gives rise to hallucinations in PD. Author SummaryInefficient integration of information between external stimuli and internal perceptual predictions may lead to misperceptions or visual hallucinations in Parkinson's disease (PD). In this study, we show that hallucinatory behavior in PD patients is associated with marked alterations in structural network topology. Severity of hallucinatory behavior was associated with decreased connectivity in a large subnetwork that included the majority of the diverse club, nodes with a high number of between-module connections. Furthermore, changes in between-module connectivity were found across brain regions involved in visual processing, top-down prediction centers, and endogenous attention, including the occipital, orbitofrontal, and posterior cingulate cortex. Together, these findings suggest that impaired integration across different sides across different perceptual processing regions may result in inefficient transfer of information

Adaptive Beamsteering Cognitive Radar with Integrated Search-and-Track of Swarm Targets

The article of record as published may be found at http://dx.doi.org/10.1109/ACCESS.2021.3069350, IEEE AccessAdaptive beamsteering cognitive radar (AB-CRr) systems seek to improve detection and tracking performance by formulating a beam placement strategy adapted to their environment. AB-CRr builds a probabilistic model of the target environment that enables it to more efficiently employ its limited resources to locate and track targets. In this work, we investigate methods for adapting the AB- CRr framework to detect and track large target swarms. This is achieved by integrating the properties of correlated-motion swarms into both the radar tracking model and AB-CRr’s underlying dynamic probability model. As a result, a list of newly CRr-integrated contributions are enumerated: a) improved uncertainty function design, b) incorporates Mahalanobis nearest neighbors multi-target association methodology into AB-CRr, c) introduces a novel Kalman-based consolidated swarm tracking methodology with a common velocity state vector that frames targets as a correlated collection of swarm members, d) introduces an improved uncertainty growth model for updating environment probability map, e) introduces a method for incorporating estimated swarm structure and behavior into the uncertainty update model referred to as "track hinting", and f) introduces new metrics for swarm search/detection and tracking called swarm centroid track error and swarm tracking dwell ratio. The results demonstrate that AB-CRr is capable of adapting its beamsteering strategy to efficiently perform resource balancing between target search and swarm tracking applications, while taking advantage of group structure and intra-swarm target correlation to resist large swarms overloading available resources.Approved for public release; distribution is unlimited

Perception systems for robust autonomous navigation in natural environments

2022 Spring.Includes bibliographical references.As assistive robotics continues to develop thanks to the rapid advances of artificial intelligence, smart sensors, Internet of Things, and robotics, the industry began introducing robots to perform various functions that make humans' lives more comfortable and enjoyable. While the principal purpose of deploying robots has been productivity enhancement, their usability has widely expanded. Examples include assisting people with disabilities (e.g., Toyota's Human Support Robot), providing driver-less transportation (e.g., Waymo's driver-less cars), and helping with tedious house chores (e.g., iRobot). The challenge in these applications is that the robots have to function appropriately under continuously changing environments, harsh real-world conditions, deal with significant amounts of noise and uncertainty, and operate autonomously without the intervention or supervision of an expert. To meet these challenges, a robust perception system is vital. This dissertation casts light on the perception component of autonomous mobile robots and highlights their major capabilities, and analyzes the factors that affect their performance. In short, the developed approaches in this dissertation cover the following four topics: (1) learning the detection and identification of objects in the environment in which the robot is operating, (2) estimating the 6D pose of objects of interest to the robot, (3) studying the importance of the tracking information in the motion prediction module, and (4) analyzing the performance of three motion prediction methods, comparing their performances, and highlighting their strengths and weaknesses. All techniques developed in this dissertation have been implemented and evaluated on popular public benchmarks. Extensive experiments have been conducted to analyze and validate the properties of the developed methods and demonstrate this dissertation's conclusions on the robustness, performance, and utility of the proposed approaches for intelligent mobile robots

Time course of target recognition in visual search

Visual search is a ubiquitous task of great importance: it allows us to quickly find the objects that we are looking for. During active search for an object (target), eye movements are made to different parts of the scene. Fixation locations are chosen based on a combination of information about the target and the visual input. At the end of a successful search, the eyes typically fixate on the target. But does this imply that target identification occurs while looking at it? The duration of a typical fixation (~170ms) and neuronal latencies of both the oculomotor system and the visual stream indicate that there might not be enough time to do so. Previous studies have suggested the following solution to this dilemma: the target is identified extrafoveally and this event will trigger a saccade towards the target location. However this has not been experimentally verified. Here we test the hypothesis that subjects recognize the target before they look at it using a search display of oriented colored bars. Using a gaze-contingent real-time technique, we prematurely stopped search shortly after subjects fixated the target. Afterwards, we asked subjects to identify the target location. We find that subjects can identify the target location even when fixating on the target for less than 10ms. Longer fixations on the target do not increase detection performance but increase confidence. In contrast, subjects cannot perform this task if they are not allowed to move their eyes. Thus, information about the target during conjunction search for colored oriented bars can, in some circumstances, be acquired at least one fixation ahead of reaching the target. The final fixation serves to increase confidence rather then performance, illustrating a distinct role of the final fixation for the subjective judgment of confidence rather than accuracy

Context Exploitation in Data Fusion

Complex and dynamic environments constitute a challenge for existing tracking algorithms. For this reason, modern solutions are trying to utilize any available information which could help to constrain, improve or explain the measurements. So called Context Information (CI) is understood as information that surrounds an element of interest, whose knowledge may help understanding the (estimated) situation and also in reacting to that situation. However, context discovery and exploitation are still largely unexplored research topics. Until now, the context has been extensively exploited as a parameter in system and measurement models which led to the development of numerous approaches for the linear or non-linear constrained estimation and target tracking. More specifically, the spatial or static context is the most common source of the ambient information, i.e. features, utilized for recursive enhancement of the state variables either in the prediction or the measurement update of the filters. In the case of multiple model estimators, context can not only be related to the state but also to a certain mode of the filter. Common practice for multiple model scenarios is to represent states and context as a joint distribution of Gaussian mixtures. These approaches are commonly referred as the join tracking and classification. Alternatively, the usefulness of context was also demonstrated in aiding the measurement data association. Process of formulating a hypothesis, which assigns a particular measurement to the track, is traditionally governed by the empirical knowledge of the noise characteristics of sensors and operating environment, i.e. probability of detection, false alarm, clutter noise, which can be further enhanced by conditioning on context. We believe that interactions between the environment and the object could be classified into actions, activities and intents, and formed into structured graphs with contextual links translated into arcs. By learning the environment model we will be able to make prediction on the target\u2019s future actions based on its past observation. Probability of target future action could be utilized in the fusion process to adjust tracker confidence on measurements. By incorporating contextual knowledge of the environment, in the form of a likelihood function, in the filter measurement update step, we have been able to reduce uncertainties of the tracking solution and improve the consistency of the track. The promising results demonstrate that the fusion of CI brings a significant performance improvement in comparison to the regular tracking approaches