2,247 research outputs found
Human Posterior Parietal Cortex Plans Where to Reach and What to Avoid
In this time-resolved functional magnetic resonance imaging (fMRI) study, we aimed to trace the neuronal correlates of covert planning processes that precede visually guided motor behavior. Specifically, we asked whether human posterior parietal cortex has prospective planning activity that can be distinguished from activity related to retrospective visual memory and attention. Although various electrophysiological studies in monkeys have demonstrated such motor planning at the level of parietal neurons, comparatively little support is provided by recent human imaging experiments. Rather, a majority of experiments highlights a role of human posterior parietal cortex in visual working memory and attention. We thus sought to establish a clear separation of visual memory and attention from processes related to the planning of goal-directed motor behaviors. To this end, we compared delayed-response tasks with identical mnemonic and attentional demands but varying degrees of motor planning. Subjects memorized multiple target locations, and in a random subset of trials targets additionally instructed (1) desired goals or (2) undesired goals for upcoming finger reaches. Compared with the memory/attention-only conditions, both latter situations led to a specific increase of preparatory fMRI activity in posterior parietal and dorsal premotor cortex. Thus, posterior parietal cortex has prospective plans for upcoming behaviors while considering both types of targets relevant for action: those to be acquired and those to be avoided
Tractable Pathfinding for the Stochastic On-Time Arrival Problem
We present a new and more efficient technique for computing the route that
maximizes the probability of on-time arrival in stochastic networks, also known
as the path-based stochastic on-time arrival (SOTA) problem. Our primary
contribution is a pathfinding algorithm that uses the solution to the
policy-based SOTA problem---which is of pseudo-polynomial-time complexity in
the time budget of the journey---as a search heuristic for the optimal path. In
particular, we show that this heuristic can be exceptionally efficient in
practice, effectively making it possible to solve the path-based SOTA problem
as quickly as the policy-based SOTA problem. Our secondary contribution is the
extension of policy-based preprocessing to path-based preprocessing for the
SOTA problem. In the process, we also introduce Arc-Potentials, a more
efficient generalization of Stochastic Arc-Flags that can be used for both
policy- and path-based SOTA. After developing the pathfinding and preprocessing
algorithms, we evaluate their performance on two different real-world networks.
To the best of our knowledge, these techniques provide the most efficient
computation strategy for the path-based SOTA problem for general probability
distributions, both with and without preprocessing.Comment: Submission accepted by the International Symposium on Experimental
Algorithms 2016 and published by Springer in the Lecture Notes in Computer
Science series on June 1, 2016. Includes typographical corrections and
modifications to pre-processing made after the initial submission to SODA'15
(July 7, 2014
Stochastic Invariants for Probabilistic Termination
Termination is one of the basic liveness properties, and we study the
termination problem for probabilistic programs with real-valued variables.
Previous works focused on the qualitative problem that asks whether an input
program terminates with probability~1 (almost-sure termination). A powerful
approach for this qualitative problem is the notion of ranking supermartingales
with respect to a given set of invariants. The quantitative problem
(probabilistic termination) asks for bounds on the termination probability. A
fundamental and conceptual drawback of the existing approaches to address
probabilistic termination is that even though the supermartingales consider the
probabilistic behavior of the programs, the invariants are obtained completely
ignoring the probabilistic aspect.
In this work we address the probabilistic termination problem for
linear-arithmetic probabilistic programs with nondeterminism. We define the
notion of {\em stochastic invariants}, which are constraints along with a
probability bound that the constraints hold. We introduce a concept of {\em
repulsing supermartingales}. First, we show that repulsing supermartingales can
be used to obtain bounds on the probability of the stochastic invariants.
Second, we show the effectiveness of repulsing supermartingales in the
following three ways: (1)~With a combination of ranking and repulsing
supermartingales we can compute lower bounds on the probability of termination;
(2)~repulsing supermartingales provide witnesses for refutation of almost-sure
termination; and (3)~with a combination of ranking and repulsing
supermartingales we can establish persistence properties of probabilistic
programs.
We also present results on related computational problems and an experimental
evaluation of our approach on academic examples.Comment: Full version of a paper published at POPL 2017. 20 page
Constraint-Based Qualitative Simulation
We consider qualitative simulation involving a finite set of qualitative
relations in presence of complete knowledge about their interrelationship. We
show how it can be naturally captured by means of constraints expressed in
temporal logic and constraint satisfaction problems. The constraints relate at
each stage the 'past' of a simulation with its 'future'. The benefit of this
approach is that it readily leads to an implementation based on constraint
technology that can be used to generate simulations and to answer queries about
them.Comment: 10 pages, to appear at the conference TIME 200
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