8,224 research outputs found

    LIPIcs, Volume 251, ITCS 2023, Complete Volume

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    LIPIcs, Volume 251, ITCS 2023, Complete Volum

    On the path integration system of insects: there and back again

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    Navigation is an essential capability of animate organisms and robots. Among animate organisms of particular interest are insects because they are capable of a variety of navigation competencies solving challenging problems with limited resources, thereby providing inspiration for robot navigation. Ants, bees and other insects are able to return to their nest using a navigation strategy known as path integration. During path integration, the animal maintains a running estimate of the distance and direction to its nest as it travels. This estimate, known as the `home vector', enables the animal to return to its nest. Path integration was the technique used by sea navigators to cross the open seas in the past. To perform path integration, both sailors and insects need access to two pieces of information, their direction and their speed of motion over time. Neurons encoding the heading and speed have been found to converge on a highly conserved region of the insect brain, the central complex. It is, therefore, believed that the central complex is key to the computations pertaining to path integration. However, several questions remain about the exact structure of the neuronal circuit that tracks the animal's heading, how it differs between insect species, and how the speed and direction are integrated into a home vector and maintained in memory. In this thesis, I have combined behavioural, anatomical, and physiological data with computational modelling and agent simulations to tackle these questions. Analysis of the internal compass circuit of two insect species with highly divergent ecologies, the fruit fly Drosophila melanogaster and the desert locust Schistocerca gregaria, revealed that despite 400 million years of evolutionary divergence, both species share a fundamentally common internal compass circuit that keeps track of the animal's heading. However, subtle differences in the neuronal morphologies result in distinct circuit dynamics adapted to the ecology of each species, thereby providing insights into how neural circuits evolved to accommodate species-specific behaviours. The fast-moving insects need to update their home vector memory continuously as they move, yet they can remember it for several hours. This conjunction of fast updating and long persistence of the home vector does not directly map to current short, mid, and long-term memory accounts. An extensive literature review revealed a lack of available memory models that could support the home vector memory requirements. A comparison of existing behavioural data with the homing behaviour of simulated robot agents illustrated that the prevalent hypothesis, which posits that the neural substrate of the path integration memory is a bump attractor network, is contradicted by behavioural evidence. An investigation of the type of memory utilised during path integration revealed that cold-induced anaesthesia disrupts the ability of ants to return to their nest, but it does not eliminate their ability to move in the correct homing direction. Using computational modelling and simulated agents, I argue that the best explanation for this phenomenon is not two separate memories differently affected by temperature but a shared memory that encodes both the direction and distance. The results presented in this thesis shed some more light on the labyrinth that researchers of animal navigation have been exploring in their attempts to unravel a few more rounds of Ariadne's thread back to its origin. The findings provide valuable insights into the path integration system of insects and inspiration for future memory research, advancing path integration techniques in robotics, and developing novel neuromorphic solutions to computational problems

    Semi-simplicial Set Models for Distributed Knowledge

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    In recent years, a new class of models for multi-agent epistemic logic has emerged, based on simplicial complexes. Since then, many variants of these simplicial models have been investigated, giving rise to different logics and axiomatizations. In this paper, we present a further generalization, where a group of agents may distinguish two worlds, even though each individual agent in the group is unable to distinguish them. For that purpose, we generalize beyond simplicial complexes and consider instead simplicial sets. By doing so, we define a new semantics for epistemic logic with distributed knowledge. As it turns out, these models are the geometric counterpart of a generalization of Kripke models, called "pseudo-models". We identify various interesting sub-classes of these models, encompassing all previously studied variants of simplicial models; and give a sound and complete axiomatization for each of them

    Local geometry of NAE-SAT solutions in the condensation regime

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    The local behavior of typical solutions of random constraint satisfaction problems (CSP) describes many important phenomena including clustering thresholds, decay of correlations, and the behavior of message passing algorithms. When the constraint density is low, studying the planted model is a powerful technique for determining this local behavior which in many examples has a simple Markovian structure. Work of Coja-Oghlan, Kapetanopoulos, Muller (2020) showed that for a wide class of models, this description applies up to the so-called condensation threshold. Understanding the local behavior after the condensation threshold is more complex due to long-range correlations. In this work, we revisit the random regular NAE-SAT model in the condensation regime and determine the local weak limit which describes a random solution around a typical variable. This limit exhibits a complicated non-Markovian structure arising from the space of solutions being dominated by a small number of large clusters, a result rigorously verified by Nam, Sly, Sohn (2021). This is the first characterization of the local weak limit in the condensation regime for any sparse random CSPs in the so-called one-step replica symmetry breaking (1RSB) class. Our result is non-asymptotic, and characterizes the tight fluctuation O(n−1/2)O(n^{-1/2}) around the limit. Our proof is based on coupling the local neighborhoods of an infinite spin system, which encodes the structure of the clusters, to a broadcast model on trees whose channel is given by the 1RSB belief-propagation fixed point. We believe that our proof technique has broad applicability to random CSPs in the 1RSB class.Comment: 43 pages, 2 figure

    A tamed family of triangle-free graphs with unbounded chromatic number

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    We construct a hereditary class of triangle-free graphs with unbounded chromatic number, in which every non-trivial graph either contains a pair of non-adjacent twins or has an edgeless vertex cutset of size at most two. This answers in the negative a question of Chudnovsky, Penev, Scott, and Trotignon. The class is the hereditary closure of a family of (triangle-free) twincut graphs G1,G2,
G_1, G_2, \ldots such that GkG_k has chromatic number kk. We also show that every twincut graph is edge-critical

    Neural Architecture Search for Image Segmentation and Classification

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    Deep learning (DL) is a class of machine learning algorithms that relies on deep neural networks (DNNs) for computations. Unlike traditional machine learning algorithms, DL can learn from raw data directly and effectively. Hence, DL has been successfully applied to tackle many real-world problems. When applying DL to a given problem, the primary task is designing the optimum DNN. This task relies heavily on human expertise, is time-consuming, and requires many trial-and-error experiments. This thesis aims to automate the laborious task of designing the optimum DNN by exploring the neural architecture search (NAS) approach. Here, we propose two new NAS algorithms for two real-world problems: pedestrian lane detection for assistive navigation and hyperspectral image segmentation for biosecurity scanning. Additionally, we also introduce a new dataset-agnostic predictor of neural network performance, which can be used to speed-up NAS algorithms that require the evaluation of candidate DNNs

    Using knowledge graphs to infer gene expression in plants

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    IntroductionClimate change is already affecting ecosystems around the world and forcing us to adapt to meet societal needs. The speed with which climate change is progressing necessitates a massive scaling up of the number of species with understood genotype-environment-phenotype (G×E×P) dynamics in order to increase ecosystem and agriculture resilience. An important part of predicting phenotype is understanding the complex gene regulatory networks present in organisms. Previous work has demonstrated that knowledge about one species can be applied to another using ontologically-supported knowledge bases that exploit homologous structures and homologous genes. These types of structures that can apply knowledge about one species to another have the potential to enable the massive scaling up that is needed through in silico experimentation.MethodsWe developed one such structure, a knowledge graph (KG) using information from Planteome and the EMBL-EBI Expression Atlas that connects gene expression, molecular interactions, functions, and pathways to homology-based gene annotations. Our preliminary analysis uses data from gene expression studies in Arabidopsis thaliana and Populus trichocarpa plants exposed to drought conditions.ResultsA graph query identified 16 pairs of homologous genes in these two taxa, some of which show opposite patterns of gene expression in response to drought. As expected, analysis of the upstream cis-regulatory region of these genes revealed that homologs with similar expression behavior had conserved cis-regulatory regions and potential interaction with similar trans-elements, unlike homologs that changed their expression in opposite ways.DiscussionThis suggests that even though the homologous pairs share common ancestry and functional roles, predicting expression and phenotype through homology inference needs careful consideration of integrating cis and trans-regulatory components in the curated and inferred knowledge graph
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