Intrinsically motivated oculomotor exploration guided by uncertainty reduction and conditioned reinforcement in non-human primates

Fork in the road: How self-efficacy related to walking across terrain influences gaze behavior and path choice

Decisions about where to move occur throughout the day and are essential to life. Different movements may present different challenges and affect the likelihood of achieving a goal. Certain choices may have unintended consequences, some of which may cause harm and bias the decision. Movement decisions rely on a person gathering necessary visual information via shifts in gaze. Here we sought to understand what influences this information-seeking gaze behavior. Participants chose between walking across one of two paths that consisted of terrain images found in either hiking or urban environments. We manipulated the number and type of terrain of each path, which altered the amount of available visual information. We recorded gaze behavior during the approach to the paths and had participants rate the confidence in their ability to walk across each terrain type (i.e., self-efficacy) as though it was real. Participants did not direct gaze more to the path with greater visual information, regardless of how we quantified information. Rather, we show that a person's perception of their motor abilities predicts how they visually explore the environment with their eyes as well as their choice of action. The greater the self-efficacy in walking across one path, the more they directed gaze to it and the more likely they chose to walk across it.

In praise of folly: flexible goals and human cognition

Humans often pursue idiosyncratic goals that appear remote from functional ends, including information gain. We suggest that this is valuable because goals (even prima facie foolish or unachievable ones) contain structured information that scaffolds thinking and planning. By evaluating hypotheses and plans with respect to their goals, humans can discover new ideas that go beyond prior knowledge and observable evidence. These hypotheses and plans can be transmitted independently of their original motivations, adapted across generations, and serve as an engine of cultural evolution. Here, we review recent empirical and computational research underlying goal generation and planning and discuss the ways that the flexibility of our motivational system supports cognitive gains for both individuals and societies.

A transdisciplinary view on curiosity beyond linguistic humans: animals, infants, and artificial intelligence

Curiosity is a core driver for life-long learning, problem-solving and decision-making. In a broad sense, curiosity is defined as the intrinsically motivated acquisition of novel information. Despite a decades-long history of curiosity research and the earliest human theories arising from studies of laboratory rodents, curiosity has mainly been considered in two camps: 'linguistic human' and 'other'. This is despite psychology being heritable, and there are many continuities in cognitive capacities across the animal kingdom. Boundary-pushing cross-disciplinary debates on curiosity are lacking, and the relative exclusion of pre-linguistic infants and non-human animals has led to a scientific impasse which more broadly impedes the development of artificially intelligent systems modelled on curiosity in natural agents. In this review, we synthesize literature across multiple disciplines that have studied curiosity in non-verbal systems. By highlighting how similar findings have been produced across the separate disciplines of animal behaviour, developmental psychology, neuroscience, and computational cognition, we discuss how this can be used to advance our understanding of curiosity. We propose, for the first time, how features of curiosity could be quantified and therefore studied more operationally across systems: across different species, developmental stages, and natural or artificial agents.

Curiosity: primate neural circuits for novelty and information seeking

For many years, neuroscientists have investigated the behavioural, computational and neurobiological mechanisms that support value-based decisions, revealing how humans and animals make choices to obtain rewards. However, many decisions are influenced by factors other than the value of physical rewards or second-order reinforcers (such as money). For instance, animals (including humans) frequently explore novel objects that have no intrinsic value solely because they are novel and they exhibit the desire to gain information to reduce their uncertainties about the future, even if this information cannot lead to reward or assist them in accomplishing upcoming tasks. In this Review, I discuss how circuits in the primate brain responsible for detecting, predicting and assessing novelty and uncertainty regulate behaviour and give rise to these behavioural components of curiosity. I also briefly discuss how curiosity-related behaviours arise during postnatal development and point out some important reasons for the persistence of curiosity across generations.

The parietal cortex has a causal role in ambiguity computations in humans

Humans often face the challenge of making decisions between ambiguous options. The level of ambiguity in decision-making has been linked to activity in the parietal cortex, but its exact computational role remains elusive. To test the hypothesis that the parietal cortex plays a causal role in computing ambiguous probabilities, we conducted consecutive fMRI and TMS-EEG studies. We found that participants assigned unknown probabilities to objective probabilities, elevating the uncertainty of their decisions. Parietal cortex activity correlated with the objective degree of ambiguity and with a process that underestimates the uncertainty during decision-making. Conversely, the midcingulate cortex (MCC) encodes prediction errors and increases its connectivity with the parietal cortex during outcome processing. Disruption of the parietal activity increased the uncertainty evaluation of the options, decreasing cingulate cortex oscillations during outcome evaluation and lateral frontal oscillations related to value ambiguous probability. These results provide evidence for a causal role of the parietal cortex in computing uncertainty during ambiguous decisions made by humans.

Paradoxical choice and the reinforcing value of information

Signals that reduce uncertainty can be valuable because well-informed decision-makers can better align their preferences to opportunities. However, some birds and mammals display an appetite for informative signals that cannot be used to increase returns. We explore the role that reward-predictive stimuli have in fostering such preferences, aiming at distinguishing between two putative underlying mechanisms. The 'information hypothesis' proposes that reducing uncertainty is reinforcing per se, somewhat consistently with the concept of curiosity: a motivation to know in the absence of tractable extrinsic benefits. In contrast, the 'conditioned reinforcement hypothesis', an associative account, proposes asymmetries in secondarily acquired reinforcement: post-choice stimuli announcing forthcoming rewards (S⁺) reinforce responses more than stimuli signalling no rewards (S^-) inhibit responses. In three treatments, rats faced two equally profitable options delivering food probabilistically after a fixed delay. In the informative option (Info), food or no food was signalled immediately after choice, whereas in the non-informative option (NoInfo) outcomes were uncertain until the delay lapsed. Subjects preferred Info when (1) both outcomes were explicitly signalled by salient auditory cues, (2) only forthcoming food delivery was explicitly signalled, and (3) only the absence of forthcoming reward was explicitly signalled. Acquisition was slower in (3), when food was not explicitly signalled, showing that signals for positive outcomes have a greater influence on the development of preference than signals for negative ones. Our results are consistent with an elaborated conditioned reinforcement account, and with the conjecture that both uncertainty reduction and conditioned reinforcement jointly act to generate preference.

Curiosity enhances incidental object encoding in 8-month-old infants

Recent research with adults indicates that curiosity induced by uncertainty enhances learning and memory outcomes and that the resolution of curiosity has a special role in curiosity-driven learning. However, the role of curiosity-based learning in early development is unclear. Here we presented 8-month-old infants with a novel looking time procedure to explore (a) whether uncertainty-induced curiosity enhances learning of incidental information and (b) whether uncertainty-induced curiosity leads infants to seek uncertainty resolution over novelty. In Experiment 1, infants saw blurred images to induce curiosity (Curiosity sequence) or a clear image (Non-curiosity sequence) followed by presentation of incidental objects. Despite looking equally to the incidental objects in both sequences, in a subsequent object recognition phase infants looked longer to incidental objects presented in the Non-curiosity condition compared with the Curiosity condition, indicating that curiosity induced by blurred pictures enhanced the processing of the incidental object, leading to a novelty preference for the incidental object shown in the Non-Curiosity condition. In Experiment 2, a blurred picture of a novel toy was first presented, followed by its corresponding clear picture paired with a clear picture of a new novel toy side by side. Infants showed no preference for either image, providing no evidence for a drive to resolve uncertainty. Overall, the current experiments suggest that curiosity has a broad attention-enhancing effect in infancy. Taking into account existing studies with older children and adults, we propose a developmental change in the function of curiosity, from this attentional enhancement to more goal-directed information seeking in older children and adults.

Uncertainty modulates visual maps during noninstrumental information demand

Animals are intrinsically motivated to obtain information independently of instrumental incentives. This motivation depends on two factors: a desire to resolve uncertainty by gathering accurate information and a desire to obtain positively-valenced observations, which predict favorable rather than unfavorable outcomes. To understand the neural mechanisms, we recorded parietal cortical activity implicated in prioritizing stimuli for spatial attention and gaze, in a task in which monkeys were free (but not trained) to obtain information about probabilistic non-contingent rewards. We show that valence and uncertainty independently modulated parietal neuronal activity, and uncertainty but not reward-related enhancement consistently correlated with behavioral sensitivity. The findings suggest uncertainty-driven and valence-driven information demand depend on partially distinct pathways, with the former being consistently related to parietal responses and the latter depending on additional mechanisms implemented in downstream structures.

Grounding Context in Embodied Cognitive Robotics

Biological agents are context-dependent systems that exhibit behavioral flexibility. The internal and external information agents process, their actions, and emotions are all grounded in the context within which they are situated. However, in the field of cognitive robotics, the concept of context is far from being clear with most studies making little to no reference to it. The aim of this paper is to provide an interpretation of the notion of context and its core elements based on different studies in natural agents, and how these core contextual elements have been modeled in cognitive robotics, to introduce a new hypothesis about the interactions between these contextual elements. Here, global context is categorized as agent-related, environmental, and task-related context. The interaction of their core elements, allows agents to first select self-relevant tasks depending on their current needs, or for learning and mastering their environment through exploration. Second, to perform a task and continuously monitor its performance. Third, to abandon a task in case its execution is not going as expected. Here, the monitoring of prediction error, the difference between sensorimotor predictions and incoming sensory information, is at the core of behavioral flexibility during situated action cycles. Additionally, monitoring prediction error dynamics and its comparison with the expected reduction rate should indicate the agent its overall performance on executing the task. Sensitivity to performance evokes emotions that function as the driving element for autonomous behavior which, at the same time, depends on the processing of the interacting core elements. Taking all these into account, an interactionist model of contexts and their core elements is proposed. The model is embodied, affective, and situated, by means of the processing of the agent-related and environmental core contextual elements. Additionally, it is grounded in the processing of the task-related context and the associated situated action cycles during task execution. Finally, the model proposed here aims to guide how artificial agents should process the core contextual elements of the agent-related and environmental context to give rise to the task-related context, allowing agents to autonomously select a task, its planning, execution, and monitoring for behavioral flexibility.

Seeking motivation and reward: roles of dopamine, hippocampus and supramammillo-septal pathway

Reinforcement learning and goal-seeking behavior are thought to be mediated by midbrain dopamine neurons. However, little is known about neural substrates of curiosity and exploratory behavior, which occur in the absence of clear goal or reward. This is despite behavioral scientists having long suggested that curiosity and exploratory behaviors are regulated by an innate drive. We refer to such behavior as information-seeking behavior and propose 1) key neural substrates and 2) the concept of environment prediction error as a framework to understand information-seeking processes. The cognitive aspect of information-seeking behavior, including the perception of salience and uncertainty, involves, in part, the pathways from the posterior hypothalamic supramammillary region to the hippocampal formation. The vigor of such behavior is modulated by the following: supramammillary glutamatergic neurons; their projections to medial septal glutamatergic neurons; and the projections of medial septal glutamatergic neurons to ventral tegmental dopaminergic neurons. Phasic responses of dopaminergic neurons are characterized as signaling potentially important stimuli rather than rewards. This paper describes how novel stimuli and uncertainty trigger seeking motivation and how these neural substrates modulate information-seeking behavior.

Interactions between ventrolateral prefrontal and anterior cingulate cortex during learning and behavioural change

Hypotheses and beliefs guide credit assignment - the process of determining which previous events or actions caused an outcome. Adaptive hypothesis formation and testing are crucial in uncertain and changing environments in which associations and meanings are volatile. Despite primates' abilities to form and test hypotheses, establishing what is causally responsible for the occurrence of particular outcomes remains a fundamental challenge for credit assignment and learning. Hypotheses about what surprises are due to stochasticity inherent in an environment as opposed to real, systematic changes are necessary for identifying the environment's predictive features, but are often hard to test. We review evidence that two highly interconnected frontal cortical regions, anterior cingulate cortex and ventrolateral prefrontal area 47/12o, provide a biological substrate for linking two crucial components of hypothesis-formation and testing: the control of information seeking and credit assignment. Neuroimaging, targeted disruptions, and neurophysiological studies link an anterior cingulate - 47/12o circuit to generation of exploratory behaviour, non-instrumental information seeking, and interpretation of subsequent feedback in the service of credit assignment. Our observations support the idea that information seeking and credit assignment are linked at the level of neural circuits and explain why this circuit is important for ensuring behaviour is flexible and adaptive.

How the value of the environment controls persistence in visual search

Classic foraging theory predicts that humans and animals aim to gain maximum reward per unit time. However, in standard instrumental conditioning tasks individuals adopt an apparently suboptimal strategy: they respond slowly when the expected value is low. This reward-related bias is often explained as reduced motivation in response to low rewards. Here we present evidence this behavior is associated with a complementary increased motivation to search the environment for alternatives. We trained monkeys to search for reward-related visual targets in environments with different values. We found that the reward-related bias scaled with environment value, was consistent with persistent searching after the target was already found, and was associated with increased exploratory gaze to objects in the environment. A novel computational model of foraging suggests that this search strategy could be adaptive in naturalistic settings where both environments and the objects within them provide partial information about hidden, uncertain rewards.

The past, present, and future of selection history

The last ten years of attention research have witnessed a revolution, replacing a theoretical dichotomy (top-down vs. bottom-up control) with a trichotomy (biased by current goals, physical salience, and selection history). This third new mechanism of attentional control, selection history, is multifaceted. Some aspects of selection history must be learned over time whereas others reflect much more transient influences. A variety of different learning experiences can shape the attention system, including reward, aversive outcomes, past experience searching for a target, target‒non-target relations, and more. In this review, we provide an overview of the historical forces that led to the proposal of selection history as a distinct mechanism of attentional control. We then propose a formal definition of selection history, with concrete criteria, and identify different components of experience-driven attention that fit within this definition. The bulk of the review is devoted to exploring how these different components relate to one another. We conclude by proposing an integrative account of selection history centered on underlying themes that emerge from our review.

A prefrontal network integrates preferences for advance information about uncertain rewards and punishments

Humans and animals can be strongly motivated to seek information to resolve uncertainty about rewards and punishments. In particular, despite its clinical and societal relevance, very little is known about information seeking about punishments. We show that attitudes toward information about punishments and rewards are distinct and separable at both behavioral and neuronal levels. We demonstrate the existence of prefrontal neuronal populations that anticipate opportunities to gain information in a relatively valence-specific manner, separately anticipating information about either punishments or rewards. These neurons are located in anatomically interconnected subregions of anterior cingulate cortex (ACC) and ventrolateral prefrontal cortex (vlPFC) in area 12o/47. Unlike ACC, vlPFC also contains a population of neurons that integrate attitudes toward both reward and punishment information, to encode the overall preference for information in a bivalent manner. This cortical network is well suited to mediate information seeking by integrating the desire to resolve uncertainty about multiple, distinct motivational outcomes.

Motives driving gaze and walking decisions

To navigate complex environments, people must decide how to direct gaze to acquire relevant information and decide where, when, and how to move the body. Recent work supports the idea that gaze may be directed to reduce task-relevant environmental uncertainty and to ensure movement accuracy based on the cost (or effort) to move the body and maintain balance. During walking, these two factors may compete for gaze allocation and explain how we make decisions about where to step. Using a forced-choice walking paradigm, where we manipulated the visual uncertainty (simulating uncertain terrain characteristics) and motor cost associated with specific step-target choices, we examined the motives driving gaze and step decisions. We characterized each individual's distinct gaze behavior based on their sensitivity to changes in visual uncertainty, which predicted step-choice behavior when foot-placement accuracy was important to the task. We show that individuals who tended to look at both target choices as visual uncertainty increased prioritized stepping onto the more certain location after looking at it longer, even at the expense of increased motor cost. In contrast, individuals who tended to look at only one of the target choices as visual uncertainty increased preferred to step on the target that minimized motor cost. Overall, we demonstrate that how a person explores the environment with their eyes dictates where they step. These gaze and step decisions may relate to the value a person assigns to information gain, being certain of their actions, and conserving energy.

Feeling-of-knowing experiences breed curiosity

A central tenet in theoretical work on metacognition is that retrieval experiences during memory search can exert control over behaviour. States of curiosity, which reflect motivational tendencies to seek out information, may play a critical role in this control function. We conducted two experiments to address this idea, focusing on links between feeling-of knowing (FOK) experiences, memory-search duration, and subsequent information-seeking behaviour. We administered an episodic FOK paradigm that probed memory for previously studied face-name pairs, and subsequently provided an opportunity to select limited pairs for restudy. This set-up allowed us to test whether current search duration and subsequent restudy choices are biased towards items with high FOK ratings. Results revealed a positive relationship between FOK ratings and the response times of these judgements. We observed a similar positive relationship between FOK ratings and subsequent item selection for restudy. Moreover, experimental manipulations of FOK ratings based on familiarity of the face cues also had parallel effects. Our findings suggest that metacognitive experiences during unsuccessful retrieval from episodic memory can induce states of curiosity that shape behaviour beyond the immediate retrieval context. Curiosity may act as a bond to ensure that memory gaps identified through unsuccessful retrieval adaptively guide future learning.

Reaching movements are attracted by stimuli that signal reward

When presented with a set of possible reach targets, the movement trajectory can reveal aspects of the underlying competition for action selection. Current goals and physical salience can affect the trajectory of reaching movements to be attracted towards a distractor. Some studies demonstrated that stimuli associated with reward can also cause an attraction when reaching towards the reward stimulus was previously rewarded and the reward stimulus was physically salient. Here we demonstrate that a non-salient stimulus that signals the availability of reward attracts reaching movements even when moving towards it was never necessary nor rewarded. Moreover, the attraction by reward is particularly evident with short-latency movements. We conclude that neither physical salience nor reinforcing the movement towards a stimulus is necessary for reward to gain priority in the selection for action.

Hunters, busybodies and the knowledge network building associated with deprivation curiosity

The open-ended and internally driven nature of curiosity makes characterizing the information seeking that accompanies it a daunting endeavour. We use a historico-philosophical taxonomy of information seeking coupled with a knowledge network building framework to capture styles of information-seeking in 149 participants as they explore Wikipedia for over 5 hours spanning 21 days. We create knowledge networks in which nodes represent distinct concepts and edges represent the similarity between concepts. We quantify the tightness of knowledge networks using graph theoretical indices and use a generative model of network growth to explore mechanisms underlying information-seeking. Deprivation curiosity (the tendency to seek information that eliminates knowledge gaps) is associated with the creation of relatively tight networks and a relatively greater tendency to return to previously visited concepts. With this framework in hand, future research can readily quantify the information seeking associated with curiosity.

Reward uncertainty asymmetrically affects information transmission within the monkey fronto-parietal network

A central hypothesis in research on executive function is that controlled information processing is costly and is allocated according to the behavioral benefits it brings. However, while computational theories predict that the benefits of new information depend on prior uncertainty, the cellular effects of uncertainty on the executive network are incompletely understood. Using simultaneous recordings in monkeys, we describe several mechanisms by which the fronto-parietal network reacts to uncertainty. We show that the variance of expected rewards, independently of the value of the rewards, was encoded in single neuron and population spiking activity and local field potential (LFP) oscillations, and, importantly, asymmetrically affected fronto-parietal information transmission (measured through the coherence between spikes and LFPs). Higher uncertainty selectively enhanced information transmission from the parietal to the frontal lobe and suppressed it in the opposite direction, consistent with Bayesian principles that prioritize sensory information according to a decision maker’s prior uncertainty.

Bahareh Taghizadeh and Nicholas Foley et al. show that individual neuronal responses, population spiking activity, and local field potential oscillations encode the variance of expected rewards independent of their value. They also demonstrate that reward uncertainty asymmetrically affects neuronal transmission within the monkey fronto-parietal network.

How Outcome Uncertainty Mediates Attention, Learning, and Decision-Making

Animals and humans evolved sophisticated nervous systems that endowed them with the ability to form internal-models or beliefs and make predictions about the future to survive and flourish in a world in which future outcomes are often uncertain. Crucial to this capacity is the ability to adjust behavioral and learning policies in response to the level of uncertainty. Until recently, the neuronal mechanisms that could underlie such uncertainty-guided control have been largely unknown. In this review, I discuss newly discovered neuronal circuits in primates that represent uncertainty about future rewards and propose how they guide information-seeking, attention, decision-making, and learning to help us survive in an uncertain world. Lastly, I discuss the possible relevance of these findings to learning in artificial systems.

Neural circuitry of information seeking

Humans and animals navigate uncertain environments by seeking information about the future. Remarkably, we often seek information even when it has no instrumental value for aiding our decisions - as if the information is a source of value in its own right. In recent years, there has been a flourishing of research into these non-instrumental information preferences and their implementation in the brain. Individuals value information about uncertain future rewards, and do so for multiple reasons, including valuing resolution of uncertainty and overweighting desirable information. The brain motivates this information seeking by tapping into some of the same circuitry as primary rewards like food and water. However, it also employs cortex and basal ganglia circuitry that predicts and values information as distinct from primary reward. Uncovering how these circuits cooperate will be fundamental to understanding information seeking and motivated behavior as a whole, in our increasingly complex and information-rich world.

The value of what's to come: Neural mechanisms coupling prediction error and the utility of anticipation

Having something to look forward to is a keystone of well-being. Anticipation of future reward, such as an upcoming vacation, can often be more gratifying than the experience itself. Theories suggest the utility of anticipation underpins various behaviors, ranging from beneficial information-seeking to harmful addiction. However, how neural systems compute anticipatory utility remains unclear. We analyzed the brain activity of human participants as they performed a task involving choosing whether to receive information predictive of future pleasant outcomes. Using a computational model, we show three brain regions orchestrate anticipatory utility. Specifically, ventromedial prefrontal cortex tracks the value of anticipatory utility, dopaminergic midbrain correlates with information that enhances anticipation, while sustained hippocampal activity mediates a functional coupling between these regions. Our findings suggest a previously unidentified neural underpinning for anticipation's influence over decision-making and unify a range of phenomena associated with risk and time-delay preference.

Shared striatal activity in decisions to satisfy curiosity and hunger at the risk of electric shocks

Curiosity is often portrayed as a desirable feature of human faculty. However, curiosity may come at a cost that sometimes puts people in harmful situations. Here, using a set of behavioural and neuroimaging experiments with stimuli that strongly trigger curiosity (for example, magic tricks), we examine the psychological and neural mechanisms underlying the motivational effect of curiosity. We consistently demonstrate that across different samples, people are indeed willing to gamble, subjecting themselves to electric shocks to satisfy their curiosity for trivial knowledge that carries no apparent instrumental value. Also, this influence of curiosity shares common neural mechanisms with that of hunger for food. In particular, we show that acceptance (compared to rejection) of curiosity-driven or incentive-driven gambles is accompanied by enhanced activity in the ventral striatum when curiosity or hunger was elicited, which extends into the dorsal striatum when participants made a decision.

How Curiosity Enhances Hippocampus-Dependent Memory: The Prediction, Appraisal, Curiosity, and Exploration (PACE) Framework

Curiosity plays a fundamental role for learning and memory, but the neural mechanisms that stimulate curiosity and its effect on memory are poorly understood. Accumulating evidence suggests that curiosity states are related to modulations in activity in the dopaminergic circuit and that these modulations impact memory encoding and consolidation for both targets of curiosity and incidental information encountered during curiosity states. To account for this evidence, we propose the Prediction, Appraisal, Curiosity, and Exploration (PACE) framework, which attempts to explain curiosity and memory in terms of cognitive processes, neural circuits, behavior, and subjective experience. The PACE framework generates testable predictions that can stimulate future investigation of the mechanisms underlying curiosity-related memory enhancements.

Predictability and Uncertainty in the Pleasure of Music: A Reward for Learning?

Music ranks among the greatest human pleasures. It consistently engages the reward system, and converging evidence implies it exploits predictions to do so. Both prediction confirmations and errors are essential for understanding one's environment, and music offers many of each as it manipulates interacting patterns across multiple timescales. Learning models suggest that a balance of these outcomes (i.e., intermediate complexity) optimizes the reduction of uncertainty to rewarding and pleasurable effect. Yet evidence of a similar pattern in music is mixed, hampered by arbitrary measures of complexity. In the present studies, we applied a well-validated information-theoretic model of auditory expectation to systematically measure two key aspects of musical complexity: predictability (operationalized as information content [IC]), and uncertainty (entropy). In Study 1, we evaluated how these properties affect musical preferences in 43 male and female participants; in Study 2, we replicated Study 1 in an independent sample of 27 people and assessed the contribution of veridical predictability by presenting the same stimuli seven times. Both studies revealed significant quadratic effects of IC and entropy on liking that outperformed linear effects, indicating reliable preferences for music of intermediate complexity. An interaction between IC and entropy further suggested preferences for more predictability during more uncertain contexts, which would facilitate uncertainty reduction. Repeating stimuli decreased liking ratings but did not disrupt the preference for intermediate complexity. Together, these findings support long-hypothesized optimal zones of predictability and uncertainty in musical pleasure with formal modeling, relating the pleasure of music listening to the intrinsic reward of learning.SIGNIFICANCE STATEMENT Abstract pleasures, such as music, claim much of our time, energy, and money despite lacking any clear adaptive benefits like food or shelter. Yet as music manipulates patterns of melody, rhythm, and more, it proficiently exploits our expectations. Given the importance of anticipating and adapting to our ever-changing environments, making and evaluating uncertain predictions can have strong emotional effects. Accordingly, we present evidence that listeners consistently prefer music of intermediate predictive complexity, and that preferences shift toward expected musical outcomes in more uncertain contexts. These results are consistent with theories that emphasize the intrinsic reward of learning, both by updating inaccurate predictions and validating accurate ones, which is optimal in environments that present manageable predictive challenges (i.e., reducible uncertainty).

A neural network for information seeking

Humans and other animals often show a strong desire to know the uncertain rewards their future has in store, even when they cannot use this information to influence the outcome. However, it is unknown how the brain predicts opportunities to gain information and motivates this information-seeking behavior. Here we show that neurons in a network of interconnected subregions of primate anterior cingulate cortex and basal ganglia predict the moment of gaining information about uncertain rewards. Spontaneous increases in their information prediction signals are followed by gaze shifts toward objects associated with resolving uncertainty, and pharmacologically disrupting this network reduces the motivation to seek information. These findings demonstrate a cortico-basal ganglia mechanism responsible for motivating actions to resolve uncertainty by seeking knowledge about the future.

Animals resolve uncertainty by seeking knowledge about the future. How the brain controls this is unclear. The authors show that a network including primate anterior cingulate cortex and basal ganglia encodes opportunities to gain information about uncertain rewards and mediates information seeking.

Diverse motives for human curiosity

Curiosity-our desire to know-is a fundamental drive in human behaviour, but its mechanisms are poorly understood. A classical question concerns the curiosity motives. What drives individuals to become curious about some but not other sources of information?¹ Here we show that curiosity about probabilistic events depends on multiple aspects of the distribution of these events. Participants (n = 257) performed a task in which they could demand advance information about only one of two randomly selected monetary prizes that contributed to their income. Individuals differed markedly in the extent to which they requested information as a function of the ex ante uncertainty or ex ante value of an individual prize. This heterogeneity was not captured by theoretical models describing curiosity as a desire to learn about the total rewards of a situation^2,3. Instead, it could be explained by an extended model that allowed for attribute-specific anticipatory utility-the savouring of individual components of the eventual reward-and postulates that this utility increased nonlinearly with the certainty of receiving the reward. Parameter values fitting individual choices were consistent for information about gains or losses, suggesting that attribute-specific anticipatory utility captures fundamental heterogeneity in the determinants of curiosity.

Feature-specific prediction errors and surprise across macaque fronto-striatal circuits

To adjust expectations efficiently, prediction errors need to be associated with the precise features that gave rise to the unexpected outcome, but this credit assignment may be problematic if stimuli differ on multiple dimensions and it is ambiguous which feature dimension caused the outcome. Here, we report a potential solution: neurons in four recorded areas of the anterior fronto-striatal networks encode prediction errors that are specific to feature values of different dimensions of attended multidimensional stimuli. The most ubiquitous prediction error occurred for the reward-relevant dimension. Feature-specific prediction error signals a) emerge on average shortly after non-specific prediction error signals, b) arise earliest in the anterior cingulate cortex and later in dorsolateral prefrontal cortex, caudate and ventral striatum, and c) contribute to feature-based stimulus selection after learning. Thus, a widely-distributed feature-specific eligibility trace may be used to update synaptic weights for improved feature-based attention.

In order to adjust expectations efficiently, prediction errors need to be associated with the features that gave rise to the unexpected outcome. Here, the authors show that neurons in anterior fronto-striatal networks encode prediction errors that are specific to feature values of different stimulus dimensions.

Triple dissociation of attention and decision computations across prefrontal cortex

Naturalistic decision-making typically involves sequential deployment of attention to choice alternatives to gather information before a decision is made. Attention filters how information enters decision circuits, thus implying that attentional control may shape how decision computations unfold. We recorded neuronal activity from three subregions of the prefrontal cortex (PFC) while monkeys performed an attention-guided decision-making task. From the first saccade to decision-relevant information, a triple dissociation of decision- and attention-related computations emerged in parallel across PFC subregions. During subsequent saccades, orbitofrontal cortex activity reflected the value comparison between currently and previously attended information. In contrast, the anterior cingulate cortex carried several signals reflecting belief updating in light of newly attended information, the integration of evidence to a decision bound and an emerging plan for what action to choose. Our findings show how anatomically dissociable PFC representations evolve during attention-guided information search, supporting computations critical for value-guided choice.

Linking dynamic patterns of neural activity in orbitofrontal cortex with decision making

Humans and animals demonstrate extraordinary flexibility in choice behavior, particularly when deciding based on subjective preferences. We evaluate options on different scales, deliberate, and often change our minds. Little is known about the neural mechanisms that underlie these dynamic aspects of decision-making, although neural activity in orbitofrontal cortex (OFC) likely plays a central role. Recent evidence from studies in macaques shows that attention modulates value responses in OFC, and that ensembles of OFC neurons dynamically signal different options during choices. When contexts change, these ensembles flexibly remap to encode the new task. Determining how these dynamic patterns emerge and relate to choices will inform models of decision-making and OFC function.

Understanding active sampling strategies: Empirical approaches and implications for attention and decision research

In natural behavior we actively gather information using attention and active sensing behaviors (such as shifts of gaze) to sample relevant cues. However, while attention and decision making are naturally coordinated, in the laboratory they have been dissociated. Attention is studied independently of the actions it serves. Conversely, decision theories make the simplifying assumption that the relevant information is given, and do not attempt to describe how the decision maker may learn and implement active sampling policies. In this paper I review recent studies that address questions of attentional learning, cue validity and information seeking in humans and non-human primates. These studies suggest that learning a sampling policy involves large scale interactions between networks of attention and valuation, which implement these policies based on reward maximization, uncertainty reduction and the intrinsic utility of cognitive states. I discuss the importance of using such paradigms for formalizing the role of attention, as well as devising more realistic theories of decision making that capture a broader range of empirical observations.

Vision and Action

Investigation of natural behavior has contributed a number of insights to our understanding of visual guidance of actions by highlighting the importance of behavioral goals and focusing attention on how vision and action play out in time. In this context, humans make continuous sequences of sensory-motor decisions to satisfy current behavioral goals, and the role of vision is to provide the relevant information for making good decisions in order to achieve those goals. This conceptualization of visually guided actions as a sequence of sensory-motor decisions has been formalized within the framework of statistical decision theory, which structures the problem and provides the context for much recent progress in vision and action. Components of a good decision include the task, which defines the behavioral goals, the rewards and costs associated with those goals, uncertainty about the state of the world, and prior knowledge.

Parietal neurons encode expected gains in instrumental information

In natural behavior, animals have access to multiple sources of information, but only a few of these sources are relevant for learning and actions. Beyond choosing an appropriate action, making good decisions entails the ability to choose the relevant information, but fundamental questions remain about the brain's information sampling policies. Recent studies described the neural correlates of seeking information about a reward, but it remains unknown whether, and how, neurons encode choices of instrumental information, in contexts in which the information guides subsequent actions. Here we show that parietal cortical neurons involved in oculomotor decisions encode, before an information sampling saccade, the reduction in uncertainty that the saccade is expected to bring for a subsequent action. These responses were distinct from the neurons' visual and saccadic modulations and from signals of expected reward or reward prediction errors. Therefore, even in an instrumental context when information and reward gains are closely correlated, individual cells encode decision variables that are based on informational factors and can guide the active sampling of action-relevant cues.

Neurons in the primate dorsal striatum signal the uncertainty of object-reward associations

To learn, obtain reward and survive, humans and other animals must monitor, approach and act on objects that are associated with variable or unknown rewards. However, the neuronal mechanisms that mediate behaviours aimed at uncertain objects are poorly understood. Here we demonstrate that a set of neurons in an internal-capsule bordering regions of the primate dorsal striatum, within the putamen and caudate nucleus, signal the uncertainty of object–reward associations. Their uncertainty responses depend on the presence of objects associated with reward uncertainty and evolve rapidly as monkeys learn novel object–reward associations. Therefore, beyond its established role in mediating actions aimed at known or certain rewards, the dorsal striatum also participates in behaviours aimed at reward-uncertain objects.

The dorsal striatum (DS) is a brain region that is thought to aim actions at certain or known rewards. Here, the authors show that an internal-capsule bordering region of the primate DS signals the uncertainty of object-reward associations, suggesting a novel role for the DS in behavior under uncertainty.

Intrinsic Valuation of Information in Decision Making under Uncertainty

In a dynamic world, an accurate model of the environment is vital for survival, and agents ought regularly to seek out new information with which to update their world models. This aspect of behaviour is not captured well by classical theories of decision making, and the cognitive mechanisms of information seeking are poorly understood. In particular, it is not known whether information is valued only for its instrumental use, or whether humans also assign it a non-instrumental intrinsic value. To address this question, the present study assessed preference for non-instrumental information among 80 healthy participants in two experiments. Participants performed a novel information preference task in which they could choose to pay a monetary cost to receive advance information about the outcome of a monetary lottery. Importantly, acquiring information did not alter lottery outcome probabilities. We found that participants were willing to incur considerable monetary costs to acquire payoff-irrelevant information about the lottery outcome. This behaviour was well explained by a computational cognitive model in which information preference resulted from aversion to temporally prolonged uncertainty. These results strongly suggest that humans assign an intrinsic value to information in a manner inconsistent with normative accounts of decision making under uncertainty. This intrinsic value may be associated with adaptive behaviour in real-world environments by producing a bias towards exploratory and information-seeking behaviour.

Acquiring information about the external world is vital for planning and decision making. However, recent research has shown that some animals choose to acquire information at considerable cost even when the information is of no practical benefit, a counter-intuitive behavior associated with suboptimal outcomes. In this study, we demonstrate that humans also engage in this suboptimal behavior by forfeiting future monetary reward in exchange for early but unusable information about future outcomes. Our results suggest that participants attach a value to information beyond its purely instrumental value. This preference for information may help account for apparent anomalies in human choice behavior such as compulsive checking behaviors in obsessive-compulsive disorder, and excessive and wasteful use of uninformative laboratory testing in hospitals.