Generating new concepts with hybrid neuro-symbolic models

Human conceptual knowledge supports the ability to generate novel yet highly structured concepts, and the form of this conceptual knowledge is of great interest to cognitive scientists. One tradition has emphasized structured knowledge, viewing concepts as embedded in intuitive theories or organized in complex symbolic knowledge structures. A second tradition has emphasized statistical knowledge, viewing conceptual knowledge as an emerging from the rich correlational structure captured by training neural networks and other statistical models. In this paper, we explore a synthesis of these two traditions through a novel neuro-symbolic model for generating new concepts. Using simple visual concepts as a testbed, we bring together neural networks and symbolic probabilistic programs to learn a generative model of novel handwritten characters. Two alternative models are explored with more generic neural network architectures. We compare each of these three models for their likelihoods on held-out character classes and for the quality of their productions, finding that our hybrid model learns the most convincing representation and generalizes further from the training observations.Comment: Published in Proceedings of the 42nd Annual Meeting of the Cognitive Science Society, July 202

Neural Representations of Visual Motion Processing in the Human Brain Using Laminar Imaging at 9.4 Tesla

During natural behavior, much of the motion signal falling into our eyes is due to our own movements. Therefore, in order to correctly perceive motion in our environment, it is important to parse visual motion signals into those caused by self-motion such as eye- or head-movements and those caused by external motion. Neural mechanisms underlying this task, which are also required to allow for a stable perception of the world during pursuit eye movements, are not fully understood. Both, perceptual stability as well as perception of real-world (i.e. objective) motion are the product of integration between motion signals on the retina and efference copies of eye movements. The central aim of this thesis is to examine whether different levels of cortical depth or distinct columnar structures of visual motion regions are differentially involved in disentangling signals related to self-motion, objective, or object motion. Based on previous studies reporting segregated populations of voxels in high level visual areas such as V3A, V6, and MST responding predominantly to either retinal or extra- retinal (‘real’) motion, we speculated such voxels to reside within laminar or columnar functional units. We used ultra-high field (9.4T) fMRI along with an experimental paradigm that independently manipulated retinal and extra-retinal motion signals (smooth pursuit) while controlling for effects of eye-movements, to investigate whether processing of real world motion in human V5/MT, putative MST (pMST), and V1 is associated to differential laminar signal intensities. We also examined motion integration across cortical depths in human motion areas V3A and V6 that have strong objective motion responses. We found a unique, condition specific laminar profile in human area V6, showing reduced mid-layer responses for retinal motion only, suggestive of an inhibitory retinal contribution to motion integration in mid layers or alternatively an excitatory contribution in deep and superficial layers. We also found evidence indicating that in V5/MT and pMST, processing related to retinal, objective, and pursuit motion are either integrated or colocalized at the scale of our resolution. In contrast, in V1, independent functional processes seem to be driving the response to retinal and objective motion on the one hand, and to pursuit signals on the other. The lack of differential signals across depth in these regions suggests either that a columnar rather than laminar segregation governs these functions in these areas, or that the methods used were unable to detect differential neural laminar processing. Furthermore, the thesis provides a thorough analysis of the relevant technical modalities used for data acquisition and data analysis at ultra-high field in the context of laminar fMRI. Relying on our technical implementations we were able to conduct two high-resolution fMRI experiments that helped us to further investigate the laminar organization of self-induced and externally induced motion cues in human high-level visual areas and to form speculations about the site and the mechanisms of their integration

Inductive Pattern Formation

With the extended computational limits of algorithmic recursion, scientific investigation is transitioning away from computationally decidable problems and beginning to address computationally undecidable complexity. The analysis of deductive inference in structure-property models are yielding to the synthesis of inductive inference in process-structure simulations. Process-structure modeling has examined external order parameters of inductive pattern formation, but investigation of the internal order parameters of self-organization have been hampered by the lack of a mathematical formalism with the ability to quantitatively define a specific configuration of points. This investigation addressed this issue of quantitative synthesis. Local space was developed by the Poincare inflation of a set of points to construct neighborhood intersections, defining topological distance and introducing situated Boolean topology as a local replacement for point-set topology. Parallel development of the local semi-metric topological space, the local semi-metric probability space, and the local metric space of a set of points provides a triangulation of connectivity measures to define the quantitative architectural identity of a configuration and structure independent axes of a structural configuration space. The recursive sequence of intersections constructs a probabilistic discrete spacetime model of interacting fields to define the internal order parameters of self-organization, with order parameters external to the configuration modeled by adjusting the morphological parameters of individual neighborhoods and the interplay of excitatory and inhibitory point sets. The evolutionary trajectory of a configuration maps the development of specific hierarchical structure that is emergent from a specific set of initial conditions, with nested boundaries signaling the nonlinear properties of local causative configurations. This exploration of architectural configuration space concluded with initial process-structure-property models of deductive and inductive inference spaces. In the computationally undecidable problem of human niche construction, an adaptive-inductive pattern formation model with predictive control organized the bipartite recursion between an information structure and its physical expression as hierarchical ensembles of artificial neural network-like structures. The union of architectural identity and bipartite recursion generates a predictive structural model of an evolutionary design process, offering an alternative to the limitations of cognitive descriptive modeling. The low computational complexity of these models enable them to be embedded in physical constructions to create the artificial life forms of a real-time autonomously adaptive human habitat

Game-Theoretic Safety Assurance for Human-Centered Robotic Systems

In order for autonomous systems like robots, drones, and self-driving cars to be reliably introduced into our society, they must have the ability to actively account for safety during their operation. While safety analysis has traditionally been conducted offline for controlled environments like cages on factory floors, the much higher complexity of open, human-populated spaces like our homes, cities, and roads makes it unviable to rely on common design-time assumptions, since these may be violated once the system is deployed. Instead, the next generation of robotic technologies will need to reason about safety online, constructing high-confidence assurances informed by ongoing observations of the environment and other agents, in spite of models of them being necessarily fallible.This dissertation aims to lay down the necessary foundations to enable autonomous systems to ensure their own safety in complex, changing, and uncertain environments, by explicitly reasoning about the gap between their models and the real world. It first introduces a suite of novel robust optimal control formulations and algorithmic tools that permit tractable safety analysis in time-varying, multi-agent systems, as well as safe real-time robotic navigation in partially unknown environments; these approaches are demonstrated on large-scale unmanned air traffic simulation and physical quadrotor platforms. After this, it draws on Bayesian machine learning methods to translate model-based guarantees into high-confidence assurances, monitoring the reliability of predictive models in light of changing evidence about the physical system and surrounding agents. This principle is first applied to a general safety framework allowing the use of learning-based control (e.g. reinforcement learning) for safety-critical robotic systems such as drones, and then combined with insights from cognitive science and dynamic game theory to enable safe human-centered navigation and interaction; these techniques are showcased on physical quadrotors—flying in unmodeled wind and among human pedestrians—and simulated highway driving. The dissertation ends with a discussion of challenges and opportunities ahead, including the bridging of safety analysis and reinforcement learning and the need to ``close the loop'' around learning and adaptation in order to deploy increasingly advanced autonomous systems with confidence

Introduction to the Neoclassical Interpretation: Quantum Steampunk

In a previous paper we outlined a series of historical touchpoints between classical aether theories and modern theoretical physics which showed a shared conceptual lineage for the modern tools and methods of the most common interpretations and fluid based “Hydrodynamic” treatments of an electromagnetic medium. It was proposed that, though the weight of modern experimentation leaves an extremely narrow and convoluted window for even a reconceptualization of a medium, all of modern physics recognizes a plethora of behaviors and attributes for free space and these physics are interchangeable with modern methods for treating superfluid-like continuums. Thus the mathematical equivalence of the methods do not comprise alternative physics but an alternative interpretation of the same physics. Though many individual components describing a “neo-aether” or “quintessence” are available, an overarching structural outline of how these tools can work together to provide an alternative working overview of modern physics has remained undefined. This paper will propose a set of introductory concepts in the first outline of a toy model which will later connect the alternative tools and conceptualizations with their modern counterparts. This introductory paper provides the simpler “100-miles out” overview of the whole of physics from this perspective, in an easily comprehensible, familiar and intuitive, informal dialog fashion. While this paper grants the largest and loosest introductory overview, subsequent papers in this series will address the finite connections between modern physics and this hydrodynamic view

Behavior planning for automated highway driving

This work deals with certain components of an automated driving system for highways, focusing on lane change behavior planning. It presents a variety of algorithms of a modular system aiming at safe and comfortable driving. A major contribution of this work is a method for analyzing traffic scenes in a spatio-temporal, curvilinear coordinate system. The results of this analysis are used in a further step to generate lane change trajectories. A total of three approaches with increasing levels of complexity and capabilities are compared. The most advanced approach formulates the problem as a linear-quadratic cooperative game and accounts for the inherently uncertain and multimodal nature of trajectory predictions for surrounding road users. Evaluations on real data show that the developed algorithms can be integrated into current generation automated driving software systems fulfilling runtime constraints

Discovery of a Cellular Mechanism Regulating Transcriptional Noise

Stochastic fluctuations in gene expression (‘noise’) are often considered detrimental but, in other fields, fluctuations are harnessed for benefit (e.g., ‘dither’ or amplification of thermal fluctuations to accelerate chemical reactions). Here, we find that DNA base-excision repair amplifies transcriptional noise, generating increased cellular plasticity and facilitating reprogramming. The DNA-repair protein Apex1 recognizes modified nucleoside substrates to amplify expression noise—while homeostatically maintaining mean levels of expression—for virtually all genes across the transcriptome. This noise amplification occurs for both naturally occurring base modifications and unnatural base analogs. Single-molecule imaging shows amplified noise originates from shorter, but more intense, transcriptional bursts that occur via increased DNA supercoiling which first impedes and then accelerates transcription, thereby maintaining mean levels. Strikingly, homeostatic noise amplification potentiates fate-conversion signals during cellular reprogramming. These data suggest a functional role for the observed occurrence of modified bases within DNA in embryonic development and disease