Defining "active sensing" through an analysis of sensing energetics: homeoactive and alloactive sensing

Touchless underwater wall-distance sensing via active proprioception of a robotic flapper

In this work, we explored a bioinspired method for underwater object sensing based on active proprioception. We investigated whether the fluid flows generated by a robotic flapper, while interacting with an underwater wall, can encode the distance information between the wall and the flapper, and how to decode this information using the proprioception within the flapper. Such touchless wall-distance sensing is enabled by the active motion of a flapping plate, which injects self-generated flow to the fluid environment, thus representing a form of active sensing. Specifically, we trained a long short-term memory (LSTM) neural network to predict the wall distance based on the force and torque measured at the base of the flapping plate. In addition, we varied the Rossby number (Ro, or the aspect ratio of the plate) and the dimensionless flapping amplitude (A∗) to investigate how the rotational effects and unsteadiness of self-generated flow respectively affect the accuracy of the wall-distance prediction. Our results show that the median prediction error is within 5% of the plate length for all the wall-distances investigated (up to 40 cm or approximately 2-3 plate lengths depending on theRo); therefore, confirming that the self-generated flow can enable underwater perception. In addition, we show that stronger rotational effects at lowerRolead to higher prediction accuracy, while flow unsteadiness (A∗) only has moderate effects. Lastly, analysis based on SHapley Additive exPlanations (SHAP) indicate that temporal features that are most prominent at stroke reversals likely promotes the wall-distance prediction.

Active Sampling in Primate Vocal Interactions

Active sensing is a behavioral strategy for exploring the environment. In this study, we show that contact vocal behaviors can be an active sensing mechanism that uses sampling to gain information about the social environment, in particular, the vocal behavior of others. With a focus on the realtime vocal interactions of marmoset monkeys, we contrast active sampling to a vocal accommodation framework in which vocalizations are adjusted simply to maximize responses. We conducted simulations of a vocal accommodation and an active sampling policy and compared them with real vocal exchange data. Our findings support active sampling as the best model for marmoset monkey vocal exchanges. In some cases, the active sampling model was even able to predict the distribution of vocal durations for individuals. These results suggest a new function for primate vocal interactions in which they are used by animals to seek information from social environments.

Living life with an electric touch

The electric organ discharges (EODs) produced by weakly electric fish have long been a source of scientific intrigue and inspiration. The study of these species has contributed to our understanding of the organization of fixed action patterns, as well as enriching general imaging theory by unveiling the dual impact of an agent's actions on the environment and its own sensory system during the imaging process. This Centenary Review firstly compares how weakly electric fish generate species- and sex-specific stereotyped electric fields by considering: (1) peripheral mechanisms, including the geometry, channel repertoire and innervation of the electrogenic units; (2) the organization of the electric organs (EOs); and (3) neural coordination mechanisms. Secondly, the Review discusses the threefold function of the fish-centered electric fields: (1) to generate electric signals that encode the material, geometry and distance of nearby objects, serving as a short-range sensory modality or 'electric touch'; (2) to mark emitter identity and location; and (3) to convey social messages encoded in stereotypical modulations of the electric field that might be considered as species-specific communication symbols. Finally, this Review considers a range of potential research directions that are likely to be productive in the future.

The sensory effects of light on the electric organ discharge rate of Gymnotus omarorum

Gymnotiformes are nocturnal fishes inhabiting the root mats of floating plants. They use their electric organ discharge (EOD) to explore the environment and to communicate. Here, we show and describe tonic and phasic sensory-electromotor responses to light distinct from indirect effects depending on the light-induced endogenous circadian rhythm. In the dark, principally during the night, inter-EOD interval histograms are bimodal: the main peak corresponds to the basal rate and a secondary peak corresponds to high-frequency bouts. Light causes a twofold tonic but opposing effect on the EOD histogram: (i) decreasing the main mode and (ii) blocking the high-frequency bouts and consequently increasing the main peak at the expense of removal of the secondary one. Additionally, light evokes phasic responses whose amplitude increases with intensity but whose slow time course and poor adaptation differentiate from the so-called novelty responses evoked by abrupt changes in sensory stimuli of other modalities. We confirmed that Gymnotus omarorum tends to escape from light, suggesting that these phasic responses are probably part of a global 'light-avoidance response'. We interpret the data within an ecological context. Fish rest under the shade of aquatic plants during the day and light spots due to the sun's relative movement alert the fish to hide in shady zones to avoid macroptic predators and facilitate tracking the movement of floating plant islands by wind and/or water currents.

Computational cross-species views of the hippocampal formation

The discovery of place cells and head direction cells in the hippocampal formation of freely foraging rodents has led to an emphasis of its role in encoding allocentric spatial relationships. In contrast, studies in head-fixed primates have additionally found representations of spatial views. We review recent experiments in freely moving monkeys that expand upon these findings and show that postural variables such as eye/head movements strongly influence neural activity in the hippocampal formation, suggesting that the function of the hippocampus depends on where the animal looks. We interpret these results in the light of recent studies in humans performing challenging navigation tasks which suggest that depending on the context, eye/head movements serve one of two roles-gathering information about the structure of the environment (active sensing) or externalizing the contents of internal beliefs/deliberation (embodied cognition). These findings prompt future experimental investigations into the information carried by signals flowing between the hippocampal formation and the brain regions controlling postural variables, and constitute a basis for updating computational theories of the hippocampal system to accommodate the influence of eye/head movements.

Mormyrid fish as models for investigating sensory-motor integration: A behavioural perspective

Animals possess senses which gather information from their environment. They can tune into important aspects of this information and decide on the most appropriate response, requiring coordination of their sensory and motor systems. This interaction is bidirectional. Animals can actively shape their perception with self-driven motion, altering sensory flow to maximise the environmental information they are able to extract. Mormyrid fish are excellent candidates for studying sensory-motor interactions, because they possess a unique sensory system (the active electric sense) and exhibit notable behaviours that seem to be associated with electrosensing. This review will take a behavioural approach to unpicking this relationship, using active electrolocation as an example where body movements and sensing capabilities are highly related and can be assessed in tandem. Active electrolocation is the process where individuals will generate and detect low-voltage electric fields to locate and recognise nearby objects. We will focus on research in the mormyrid Gnathonemus petersii (G. petersii), given the extensive study of this species, particularly its object recognition abilities. By studying object detection and recognition, we can assess the potential benefits of self-driven movements to enhance selection of biologically relevant information. Finally, these findings are highly relevant to understanding the involvement of movement in shaping the sensory experience of animals that use other sensory modalities. Understanding the overlap between sensory and motor systems will give insight into how different species have become adapted to their environments.

Spatial attention in natural tasks [version 1; peer review: 2 approved with reservations]

Little is known about fine scale neural dynamics that accompany rapid shifts in spatial attention in freely behaving animals, primarily because reliable indicators of attention are lacking in standard model organisms engaged in natural tasks. The echolocating bat can serve to bridge this gap, as it exhibits robust dynamic behavioral indicators of overt spatial attention as it explores its environment. In particular, the bat actively shifts the aim of its sonar beam to inspect objects in different directions, akin to eye movements and foveation in humans and other visually dominant animals. Further, the bat adjusts the temporal features of sonar calls to attend to objects at different distances, yielding a metric of acoustic gaze along the range axis. Thus, an echolocating bat's call features not only convey the information it uses to probe its surroundings, but also provide fine scale metrics of auditory spatial attention in 3D natural tasks. These explicit metrics of overt spatial attention can be leveraged to uncover general principles of neural coding in the mammalian brain.

Neural correlates of eye contact and social function in autism spectrum disorder

Reluctance to make eye contact during natural interactions is a central diagnostic criterion for autism spectrum disorder (ASD). However, the underlying neural correlates for eye contacts in ASD are unknown, and diagnostic biomarkers are active areas of investigation. Here, neuroimaging, eye-tracking, and pupillometry data were acquired simultaneously using two-person functional near-infrared spectroscopy (fNIRS) during live "in-person" eye-to-eye contact and eye-gaze at a video face for typically-developed (TD) and participants with ASD to identify the neural correlates of live eye-to-eye contact in both groups. Comparisons between ASD and TD showed decreased right dorsal-parietal activity and increased right ventral temporal-parietal activity for ASD during live eye-to-eye contact (p≤0.05, FDR-corrected) and reduced cross-brain coherence consistent with atypical neural systems for live eye contact. Hypoactivity of right dorsal-parietal regions during eye contact in ASD was further associated with gold standard measures of social performance by the correlation of neural responses and individual measures of: ADOS-2, Autism Diagnostic Observation Schedule, 2nd Edition (r = -0.76, -0.92 and -0.77); and SRS-2, Social Responsiveness Scale, Second Edition (r = -0.58). The findings indicate that as categorized social ability decreases, neural responses to real eye-contact in the right dorsal parietal region also decrease consistent with a neural correlate for social characteristics in ASD.

Communication with self, friends and foes in active-sensing animals

Animals that rely on electrolocation and echolocation for navigation and prey detection benefit from sensory systems that can operate in the dark, allowing them to exploit sensory niches with few competitors. Active sensing has been characterized as a highly specialized form of communication, whereby an echolocating or electrolocating animal serves as both the sender and receiver of sensory information. This characterization inspires a framework to explore the functions of sensory channels that communicate information with the self and with others. Overlapping communication functions create challenges for signal privacy and fidelity by leaving active-sensing animals vulnerable to eavesdropping, jamming and masking. Here, we present an overview of active-sensing systems used by weakly electric fish, bats and odontocetes, and consider their susceptibility to heterospecific and conspecific jamming signals and eavesdropping. Susceptibility to interference from signals produced by both conspecifics and prey animals reduces the fidelity of electrolocation and echolocation for prey capture and foraging. Likewise, active-sensing signals may be eavesdropped, increasing the risk of alerting prey to the threat of predation or the risk of predation to the sender, or drawing competition to productive foraging sites. The evolutionary success of electrolocating and echolocating animals suggests that they effectively counter the costs of active sensing through rich and diverse adaptive behaviors that allow them to mitigate the effects of competition for signal space and the exploitation of their signals.