The visual system's internal model of the world

Cognitive Control Architecture for the Practical Realization of UAV Collision Avoidance

A highly intelligent system often draws lessons from the unique abilities of humans. Current humanlike models, however, mainly focus on biological behavior, and the brain functions of humans are often overlooked. By drawing inspiration from brain science, this article shows how aspects of brain processing such as sensing, preprocessing, cognition, obstacle learning, behavior, strategy learning, pre-action, and action can be melded together in a coherent manner with cognitive control architecture. This work is based on the notion that the anti-collision response is activated in sequence, which starts from obstacle sensing to action. In the process of collision avoidance, cognition and learning modules continuously control the UAV's repertoire. Furthermore, simulated and experimental results show that the proposed architecture is effective and feasible.

Modality-Independent Effect of Gravity in Shaping the Internal Representation of 3D Space for Visual and Haptic Object Perception

Visual and haptic perceptions of 3D shape are plagued by distortions, which are influenced by nonvisual factors, such as gravitational vestibular signals. Whether gravity acts directly on the visual or haptic systems or at a higher, modality-independent level of information processing remains unknown. To test these hypotheses, we examined visual and haptic 3D shape perception by asking male and female human subjects to perform a "squaring" task in upright and supine postures and in microgravity. Subjects adjusted one edge of a 3D object to match the length of another in each of the three canonical reference planes, and we recorded the matching errors to obtain a characterization of the perceived 3D shape. The results show opposing, body-centered patterns of errors for visual and haptic modalities, whose amplitudes are negatively correlated, suggesting that they arise in distinct, modality-specific representations that are nevertheless linked at some level. On the other hand, weightlessness significantly modulated both visual and haptic perceptual distortions in the same way, indicating a common, modality-independent origin for gravity's effects. Overall, our findings show a link between modality-specific visual and haptic perceptual distortions and demonstrate a role of gravity-related signals on a modality-independent internal representation of the body and peripersonal 3D space used to interpret incoming sensory inputs.

Predictive processing of scenes and objects

Real-world visual input consists of rich scenes that are meaningfully composed of multiple objects which interact in complex, but predictable, ways. Despite this complexity, we recognize scenes, and objects within these scenes, from a brief glance at an image. In this review, we synthesize recent behavioral and neural findings that elucidate the mechanisms underlying this impressive ability. First, we review evidence that visual object and scene processing is partly implemented in parallel, allowing for a rapid initial gist of both objects and scenes concurrently. Next, we discuss recent evidence for bidirectional interactions between object and scene processing, with scene information modulating the visual processing of objects, and object information modulating the visual processing of scenes. Finally, we review evidence that objects also combine with each other to form object constellations, modulating the processing of individual objects within the object pathway. Altogether, these findings can be understood by conceptualizing object and scene perception as the outcome of a joint probabilistic inference, in which "best guesses" about objects act as priors for scene perception and vice versa, in order to concurrently optimize visual inference of objects and scenes.

Sampling-based Bayesian inference in recurrent circuits of stochastic spiking neurons

Two facts about cortex are widely accepted: neuronal responses show large spiking variability with near Poisson statistics and cortical circuits feature abundant recurrent connections between neurons. How these spiking and circuit properties combine to support sensory representation and information processing is not well understood. We build a theoretical framework showing that these two ubiquitous features of cortex combine to produce optimal sampling-based Bayesian inference. Recurrent connections store an internal model of the external world, and Poissonian variability of spike responses drives flexible sampling from the posterior stimulus distributions obtained by combining feedforward and recurrent neuronal inputs. We illustrate how this framework for sampling-based inference can be used by cortex to represent latent multivariate stimuli organized either hierarchically or in parallel. A neural signature of such network sampling are internally generated differential correlations whose amplitude is determined by the prior stored in the circuit, which provides an experimentally testable prediction for our framework.

Toward a computational theory of manifold untangling: from global embedding to local flattening

It has been hypothesized that the ventral stream processing for object recognition is based on a mechanism called cortically local subspace untangling. A mathematical abstraction of object recognition by the visual cortex is how to untangle the manifolds associated with different object categories. Such a manifold untangling problem is closely related to the celebrated kernel trick in metric space. In this paper, we conjecture that there is a more general solution to manifold untangling in the topological space without artificially defining any distance metric. Geometrically, we can either embed a manifold in a higher-dimensional space to promote selectivity or flatten a manifold to promote tolerance. General strategies of both global manifold embedding and local manifold flattening are presented and connected with existing work on the untangling of image, audio, and language data. We also discuss the implications of untangling the manifold into motor control and internal representations.

Backward masking reveals coarse-to-fine dynamics in human V1

Natural images exhibit luminance variations aligned across a broad spectrum of spatial frequencies (SFs). It has been proposed that, at early stages of processing, the coarse signals carried by the low SF (LSF) of the visual input are sent rapidly from primary visual cortex (V1) to ventral, dorsal and frontal regions to form a coarse representation of the input, which is later sent back to V1 to guide the processing of fine-grained high SFs (i.e., HSF). We used functional resonance imaging (fMRI) to investigate the role of human V1 in the coarse-to-fine integration of visual input. We disrupted the processing of the coarse and fine content of full-spectrum human face stimuli via backward masking of selective SF ranges (LSFs: <1.75cpd and HSFs: >1.75cpd) at specific times (50, 83, 100 or 150ms). In line with coarse-to-fine proposals, we found that (1) the selective masking of stimulus LSF disrupted V1 activity in the earliest time window, and progressively decreased in influence, while (2) an opposite trend was observed for the masking of stimulus' HSF. This pattern of activity was found in V1, as well as in ventral (i.e. the Fusiform Face area, FFA), dorsal and orbitofrontal regions. We additionally presented subjects with contrast negated stimuli. While contrast negation significantly reduced response amplitudes in the FFA, as well as coupling between FFA and V1, coarse-to-fine dynamics were not affected by this manipulation. The fact that V1 response dynamics to strictly identical stimulus sets differed depending on the masked scale adds to growing evidence that V1 role goes beyond the early and quasi-passive transmission of visual information to the rest of the brain. It instead indicates that V1 may yield a 'spatially registered common forum' or 'blackboard' that integrates top-down inferences with incoming visual signals through its recurrent interaction with high-level regions located in the inferotemporal, dorsal and frontal regions.

From CAPTCHA to Commonsense: How Brain Can Teach Us About Artificial Intelligence

Despite the recent progress in AI powered by deep learning in solving narrow tasks, we are not close to human intelligence in its flexibility, versatility, and efficiency. Efficient learning and effective generalization come from inductive biases, and building Artificial General Intelligence (AGI) is an exercise in finding the right set of inductive biases that make fast learning possible while being general enough to be widely applicable in tasks that humans excel at. To make progress in AGI, we argue that we can look at the human brain for such inductive biases and principles of generalization. To that effect, we propose a strategy to gain insights from the brain by simultaneously looking at the world it acts upon and the computational framework to support efficient learning and generalization. We present a neuroscience-inspired generative model of vision as a case study for such approach and discuss some open problems about the path to AGI.

Scene Representations Conveyed by Cortical Feedback to Early Visual Cortex Can Be Described by Line Drawings

Human behavior is dependent on the ability of neuronal circuits to predict the outside world. Neuronal circuits in early visual areas make these predictions based on internal models that are delivered via non-feedforward connections. Despite our extensive knowledge of the feedforward sensory features that drive cortical neurons, we have a limited grasp on the structure of the brain's internal models. Progress in neuroscience therefore depends on our ability to replicate the models that the brain creates internally. Here we record human fMRI data while presenting partially occluded visual scenes. Visual occlusion allows us to experimentally control sensory input to subregions of visual cortex while internal models continue to influence activity in these regions. Because the observed activity is dependent on internal models, but not on sensory input, we have the opportunity to map visual features conveyed by the brain's internal models. Our results show that activity related to internal models in early visual cortex are more related to scene-specific features than to categorical or depth features. We further demonstrate that behavioral line drawings provide a good description of internal model structure representing scene-specific features. These findings extend our understanding of internal models, showing that line drawings provide a window into our brains' internal models of vision.

SIGNIFICANCE STATEMENT We find that fMRI activity patterns corresponding to occluded visual information in early visual cortex fill in scene-specific features. Line drawings of the missing scene information correlate with our recorded activity patterns, and thus to internal models. Despite our extensive knowledge of the sensory features that drive cortical neurons, we have a limited grasp on the structure of our brains' internal models. These results therefore constitute an advance to the field of neuroscience by extending our knowledge about the models that our brains construct to efficiently represent and predict the world. Moreover, they link a behavioral measure to these internal models, which play an active role in many components of human behavior, including visual predictions, action planning, and decision making.

Toward an Integrative Theory of Thalamic Function

The thalamus has long been suspected to have an important role in cognition, yet recent theories have favored a more corticocentric view. According to this view, the thalamus is an excitatory feedforward relay to or between cortical regions, and cognitively relevant computations are exclusively cortical. Here, we review anatomical, physiological, and behavioral studies along evolutionary and theoretical dimensions, arguing for essential and unique thalamic computations in cognition. Considering their architectural features as well as their ability to initiate, sustain, and switch cortical activity, thalamic circuits appear uniquely suited for computing contextual signals that rapidly reconfigure task-relevant cortical representations. We introduce a framework that formalizes this notion, show its consistency with several findings, and discuss its prediction of thalamic roles in perceptual inference and behavioral flexibility. Overall, our framework emphasizes an expanded view of the thalamus in cognitive computations and provides a roadmap to test several of its theoretical and experimental predictions.

What can the brain teach us about building artificial intelligence?

Lake et al. offer a timely critique on the recent accomplishments in artificial intelligence from the vantage point of human intelligence and provide insightful suggestions about research directions for building more human-like intelligence. Because we agree with most of the points they raised, here we offer a few points that are complementary.

A generative vision model that trains with high data efficiency and breaks text-based CAPTCHAs

Learning from a few examples and generalizing to markedly different situations are capabilities of human visual intelligence that are yet to be matched by leading machine learning models. By drawing inspiration from systems neuroscience, we introduce a probabilistic generative model for vision in which message-passing-based inference handles recognition, segmentation, and reasoning in a unified way. The model demonstrates excellent generalization and occlusion-reasoning capabilities and outperforms deep neural networks on a challenging scene text recognition benchmark while being 300-fold more data efficient. In addition, the model fundamentally breaks the defense of modern text-based CAPTCHAs (Completely Automated Public Turing test to tell Computers and Humans Apart) by generatively segmenting characters without CAPTCHA-specific heuristics. Our model emphasizes aspects such as data efficiency and compositionality that may be important in the path toward general artificial intelligence.

Relating functional connectivity in V1 neural circuits and 3D natural scenes using Boltzmann machines

Bayesian theory has provided a compelling conceptualization for perceptual inference in the brain. Central to Bayesian inference is the notion of statistical priors. To understand the neural mechanisms of Bayesian inference, we need to understand the neural representation of statistical regularities in the natural environment. In this paper, we investigated empirically how statistical regularities in natural 3D scenes are represented in the functional connectivity of disparity-tuned neurons in the primary visual cortex of primates. We applied a Boltzmann machine model to learn from 3D natural scenes, and found that the units in the model exhibited cooperative and competitive interactions, forming a "disparity association field", analogous to the contour association field. The cooperative and competitive interactions in the disparity association field are consistent with constraints of computational models for stereo matching. In addition, we simulated neurophysiological experiments on the model, and found the results to be consistent with neurophysiological data in terms of the functional connectivity measurements between disparity-tuned neurons in the macaque primary visual cortex. These findings demonstrate that there is a relationship between the functional connectivity observed in the visual cortex and the statistics of natural scenes. They also suggest that the Boltzmann machine can be a viable model for conceptualizing computations in the visual cortex and, as such, can be used to predict neural circuits in the visual cortex from natural scene statistics.