Goal-Directed Planning for Habituated Agents by Active Inference Using a Variational Recurrent Neural Network

It is crucial to ask how agents can achieve goals by generating action plans using only partial models of the world acquired through habituated sensory-motor experiences. Although many existing robotics studies use a forward model framework, there are generalization issues with high degrees of freedom. The current study shows that the predictive coding (PC) and active inference (AIF) frameworks, which employ a generative model, can develop better generalization by learning a prior distribution in a low dimensional latent state space representing probabilistic structures extracted from well habituated sensory-motor trajectories. In our proposed model, learning is carried out by inferring optimal latent variables as well as synaptic weights for maximizing the evidence lower bound, while goal-directed planning is accomplished by inferring latent variables for maximizing the estimated lower bound. Our proposed model was evaluated with both simple and complex robotic tasks in simulation, which demonstrated sufficient generalization in learning with limited training data by setting an intermediate value for a regularization coefficient. Furthermore, comparative simulation results show that the proposed model outperforms a conventional forward model in goal-directed planning, due to the learned prior confining the search of motor plans within the range of habituated trajectories.Comment: 30 pages, 19 figure

EEG-Based Emotion Recognition Using Regularized Graph Neural Networks

Electroencephalography (EEG) measures the neuronal activities in different brain regions via electrodes. Many existing studies on EEG-based emotion recognition do not fully exploit the topology of EEG channels. In this paper, we propose a regularized graph neural network (RGNN) for EEG-based emotion recognition. RGNN considers the biological topology among different brain regions to capture both local and global relations among different EEG channels. Specifically, we model the inter-channel relations in EEG signals via an adjacency matrix in a graph neural network where the connection and sparseness of the adjacency matrix are inspired by neuroscience theories of human brain organization. In addition, we propose two regularizers, namely node-wise domain adversarial training (NodeDAT) and emotion-aware distribution learning (EmotionDL), to better handle cross-subject EEG variations and noisy labels, respectively. Extensive experiments on two public datasets, SEED and SEED-IV, demonstrate the superior performance of our model than state-of-the-art models in most experimental settings. Moreover, ablation studies show that the proposed adjacency matrix and two regularizers contribute consistent and significant gain to the performance of our RGNN model. Finally, investigations on the neuronal activities reveal important brain regions and inter-channel relations for EEG-based emotion recognition

Improved Semantic Representations From Tree-Structured Long Short-Term Memory Networks

Because of their superior ability to preserve sequence information over time, Long Short-Term Memory (LSTM) networks, a type of recurrent neural network with a more complex computational unit, have obtained strong results on a variety of sequence modeling tasks. The only underlying LSTM structure that has been explored so far is a linear chain. However, natural language exhibits syntactic properties that would naturally combine words to phrases. We introduce the Tree-LSTM, a generalization of LSTMs to tree-structured network topologies. Tree-LSTMs outperform all existing systems and strong LSTM baselines on two tasks: predicting the semantic relatedness of two sentences (SemEval 2014, Task 1) and sentiment classification (Stanford Sentiment Treebank).Comment: Accepted for publication at ACL 201

MR image reconstruction using deep density priors

Algorithms for Magnetic Resonance (MR) image reconstruction from undersampled measurements exploit prior information to compensate for missing k-space data. Deep learning (DL) provides a powerful framework for extracting such information from existing image datasets, through learning, and then using it for reconstruction. Leveraging this, recent methods employed DL to learn mappings from undersampled to fully sampled images using paired datasets, including undersampled and corresponding fully sampled images, integrating prior knowledge implicitly. In this article, we propose an alternative approach that learns the probability distribution of fully sampled MR images using unsupervised DL, specifically Variational Autoencoders (VAE), and use this as an explicit prior term in reconstruction, completely decoupling the encoding operation from the prior. The resulting reconstruction algorithm enjoys a powerful image prior to compensate for missing k-space data without requiring paired datasets for training nor being prone to associated sensitivities, such as deviations in undersampling patterns used in training and test time or coil settings. We evaluated the proposed method with T1 weighted images from a publicly available dataset, multi-coil complex images acquired from healthy volunteers (N=8) and images with white matter lesions. The proposed algorithm, using the VAE prior, produced visually high quality reconstructions and achieved low RMSE values, outperforming most of the alternative methods on the same dataset. On multi-coil complex data, the algorithm yielded accurate magnitude and phase reconstruction results. In the experiments on images with white matter lesions, the method faithfully reconstructed the lesions. Keywords: Reconstruction, MRI, prior probability, machine learning, deep learning, unsupervised learning, density estimationComment: Published in IEEE TMI. Main text and supplementary material, 19 pages tota