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Konrad P Körding

Publications and source records attributed to Konrad P Körding.

12 recordsLinked to original sources

Bayesian decision theory in sensorimotor control.

Action selection is a fundamental decision process for us, and depends on the state of both our body and the environment. Because signals in our sensory and motor systems are corrupted by variability or noise, the nervous system needs to estimate these states. To select an optimal action these state estimates need to be combined with knowledge of the potential costs or rewards of different action outcomes. We review recent studies that have investigated the mechanisms used by the nervous system to solve such estimation and decision problems, which show that human behaviour is close to that predicted by Bayesian Decision Theory. This theory defines optimal behaviour in a world characterized by uncertainty, and provides a coherent way of describing sensorimotor processes.

Brain↗

Probabilistic mechanisms in sensorimotor control.

Uncertainty constitutes a fundamental constraint on human sensorimotor control. Our sensors are noisy and do not provide perfect information about all the properties of the world. Moreover, our muscles generate noisy outputs and many tasks we perform vary in an unpredictable way. Here we review the computations that the CNS uses in the face of such sensory, motor and task uncertainty. We show that the CNS reduces the uncertainty in estimates about the state of the world by using a Bayesian combination of prior knowledge and sensory feedback. It is shown that these mechanisms generalize to state estimation of ones own body during movement. We review how the CNS optimizes decisions based on these estimates, examining the error criterion that people optimize when performing targeted movements. Finally, we describe how signal-dependent noise on the motor output places constraints on performance. Goal-directed movement arises from a model in which the statistics of our actions are optimized. Together these studies provide a probabilistic framework for sensorimotor control.

Animals↗

A neuroeconomics approach to inferring utility functions in sensorimotor control.

Making choices is a fundamental aspect of human life. For over a century experimental economists have characterized the decisions people make based on the concept of a utility function. This function increases with increasing desirability of the outcome, and people are assumed to make decisions so as to maximize utility. When utility depends on several variables, indifference curves arise that represent outcomes with identical utility that are therefore equally desirable. Whereas in economics utility is studied in terms of goods and services, the sensorimotor system may also have utility functions defining the desirability of various outcomes. Here, we investigate the indifference curves when subjects experience forces of varying magnitude and duration. Using a two-alternative forced-choice paradigm, in which subjects chose between different magnitude-duration profiles, we inferred the indifference curves and the utility function. Such a utility function defines, for example, whether subjects prefer to lift a 4-kg weight for 30 s or a 1-kg weight for a minute. The measured utility function depends nonlinearly on the force magnitude and duration and was remarkably conserved across subjects. This suggests that the utility function, a central concept in economics, may be applicable to the study of sensorimotor control.

Adult↗

Bayesian integration in force estimation.

When we interact with objects in the world, the forces we exert are finely tuned to the dynamics of the situation. As our sensors do not provide perfect knowledge about the environment, a key problem is how to estimate the appropriate forces. Two sources of information can be used to generate such an estimate: sensory inputs about the object and knowledge about previously experienced objects, termed prior information. Bayesian integration defines the way in which these two sources of information should be combined to produce an optimal estimate. To investigate whether subjects use such a strategy in force estimation, we designed a novel sensorimotor estimation task. We controlled the distribution of forces experienced over the course of an experiment thereby defining the prior. We show that subjects integrate sensory information with their prior experience to generate an estimate. Moreover, subjects could learn different prior distributions. These results suggest that the CNS uses Bayesian models when estimating force requirements.

Bayes Theorem↗

The world from a cat's perspective--statistics of natural videos.

The mammalian visual system is one of the most intensively investigated sensory systems. However, our knowledge of the typical input it is operating on is surprisingly limited. To address this issue, we seek to learn about the natural visual environment and the world as seen by a cat. With a CCD camera attached to their head, cats explore several outdoor environments and videos of natural stimuli are recorded from the animals' perspective. The statistical analysis of these videos reveals several remarkable properties. First, we find an anisotropy of oriented contours with an enhanced occurrence of horizontal orientations, earlier described in the "oblique effect" as a predominance of the two cardinal orientations. Second, contrast is not elevated in the center of the images, suggesting different mechanisms of fixation point selection as compared to humans. Third, analyzing a sequence of images we find that the precise position of contours varies faster than their orientation. Finally, collinear contours prevail over parallel shifted contours, matching recent physiological and anatomical results. These findings demonstrate the rich structure of natural visual stimuli and its direct relation to extensively studied anatomical and physiological issues.

Animals↗

Bayesian integration in sensorimotor learning.

When we learn a new motor skill, such as playing an approaching tennis ball, both our sensors and the task possess variability. Our sensors provide imperfect information about the ball's velocity, so we can only estimate it. Combining information from multiple modalities can reduce the error in this estimate. On a longer time scale, not all velocities are a priori equally probable, and over the course of a match there will be a probability distribution of velocities. According to bayesian theory, an optimal estimate results from combining information about the distribution of velocities-the prior-with evidence from sensory feedback. As uncertainty increases, when playing in fog or at dusk, the system should increasingly rely on prior knowledge. To use a bayesian strategy, the brain would need to represent the prior distribution and the level of uncertainty in the sensory feedback. Here we control the statistical variations of a new sensorimotor task and manipulate the uncertainty of the sensory feedback. We show that subjects internally represent both the statistical distribution of the task and their sensory uncertainty, combining them in a manner consistent with a performance-optimizing bayesian process. The central nervous system therefore employs probabilistic models during sensorimotor learning.

Bayes Theorem↗

Processing of complex stimuli and natural scenes in the visual cortex.

A major part of vision research builds on the assumption that processing of visual stimuli can be understood on the basis of knowledge about the processing of simplified, artificial stimuli. Recent experimental advances, however, show that a combination of responses to simplified stimuli does not adequately describe responses to natural visual scenes. The systems performance exceeds the performance predicted from understanding its basic constituents. This highlights the fact that the visual system is specifically adapted to the properties of its everyday input and can only fully be understood when probed with naturalistic stimuli.

Animals↗

How are complex cell properties adapted to the statistics of natural stimuli?

Sensory areas should be adapted to the properties of their natural stimuli. What are the underlying rules that match the properties of complex cells in primary visual cortex to their natural stimuli? To address this issue, we sampled movies from a camera carried by a freely moving cat, capturing the dynamics of image motion as the animal explores an outdoor environment. We use these movie sequences as input to simulated neurons. Following the intuition that many meaningful high-level variables, e.g., identities of visible objects, do not change rapidly in natural visual stimuli, we adapt the neurons to exhibit firing rates that are stable over time. We find that simulated neurons, which have optimally stable activity, display many properties that are observed for cortical complex cells. Their response is invariant with respect to stimulus translation and reversal of contrast polarity. Furthermore, spatial frequency selectivity and the aspect ratio of the receptive field quantitatively match the experimentally observed characteristics of complex cells. Hence, the population of complex cells in the primary visual cortex can be described as forming an optimally stable representation of natural stimuli.

Animals↗

Learning the nonlinearity of neurons from natural visual stimuli.

Learning in neural networks is usually applied to parameters related to linear kernels and keeps the nonlinearity of the model fixed. Thus, for successful models, properties and parameters of the nonlinearity have to be specified using a priori knowledge, which often is missing. Here, we investigate adapting the nonlinearity simultaneously with the linear kernel. We use natural visual stimuli for training a simple model of the visual system. Many of the neurons converge to an energy detector matching existing models of complex cells. The overall distribution of the parameter describing the nonlinearity well matches recent physiological results. Controls with randomly shuffled natural stimuli and pink noise demonstrate that the match of simulation and experimental results depends on the higher-order statistical properties of natural stimuli.

Models, Neurological↗

Learning distinct and complementary feature selectivities from natural colour videos.

Many biological and artificial neural networks require the parallel extraction of multiple features, and meet this requirement with distinct populations of neurons that are selective to one property of the stimulus while being non-selective to another property. In this way, several populations can resolve a set of features independently of each other, and thus achieve a parallel mode of processing. This raises the question how an initially homogeneous population of neurons segregates into groups with distinct and complementary response properties. Using a colour image sequence recorded from a camera mounted on the head of a freely behaving cat, we train a network of neurons to achieve optimally stable responses, that is, responses that change minimally over time. This objective leads to the development of colour-selective neurons. Adding a second objective, decorrelating activity within the network, a subpopulation of neurons develops with achromatic response properties. Colour selective neurons tend to be non-oriented while achromatic neurons are orientation-tuned. The proposed objective thus successfully leads to the segregation of neurons into complementary populations that are either selective for colour or orientation.

Animals↗

On the choice of a sparse prior.

An emerging paradigm analyses in what respect the properties of the nervous system reflect properties of natural scenes. It is hypothesized that neurons form sparse representations of natural stimuli: each neuron should respond strongly to some stimuli while being inactive upon presentation of most others. For a given network, sparse representations need fewest spikes, and thus the nervous system can consume the least energy. To obtain optimally sparse responses the receptive fields of simulated neurons are optimized. Algorithmically this is identical to searching for basis functions that allow coding for the stimuli with sparse coefficients. The problem is identical to maximizing the log likelihood of a generative model with prior knowledge of natural images. It is found that the resulting simulated neurons share most properties of simple cells found in primary visual cortex. Thus, forming optimally sparse representations is a very compact approach to describing simple cell properties. Many ways of defining sparse responses exist and it is widely believed that the particular choice of the sparse prior of the generative model does not significantly influence the estimated basis functions. Here we examine this assumption more closely. We include the constraint of unit variance of neuronal activity, used in most studies, into the objective functions. We then analyze learning on a database of natural (cat-cam) visual stimuli. We show that the effective objective functions are largely dominated by the constraint, and are therefore very similar. The resulting receptive fields show some similarities but also qualitative differences. Even for coefficient values for which the objective functions are dissimilar, the distributions of coefficients are similar and do not match the priors of the assumed generative model. In conclusion, the specific choice of the sparse prior is relevant, as is the choice of additional constraints, such as normalization of variance.

Algorithms↗

Learning the invariance properties of complex cells from their responses to natural stimuli.

Neurons in primary visual cortex are typically classified as either simple or complex. Whereas simple cells respond strongly to grating and bar stimuli displayed at a certain phase and visual field location, complex cell responses are insensitive to small translations of the stimulus within the receptive field [Hubel & Wiesel (1962) J. Physiol. (Lond.), 160, 106-154; Kjaer et al. (1997) J. Neurophysiol., 78, 3187-3197]. This constancy in the response to variations of the stimuli is commonly called invariance. Hubel and Wiesel's classical model of the primary visual cortex proposes a connectivity scheme which successfully describes simple and complex cell response properties. However, the question as to how this connectivity arises during normal development is left open. Based on their work and inspired by recent physiological findings we suggest a network model capable of learning from natural stimuli and developing receptive field properties which match those of cortical simple and complex cells. Stimuli are drawn from videos obtained by a camera mounted to a cat's head, so they should approximate the natural input to the cat's visual system. The network uses a competitive scheme to learn simple and complex cell response properties. Employing delayed signals to learn connections between simple and complex cells enables the model to utilize temporal properties of the input. We show that the temporal structure of the input gives rise to the emergence and refinement of complex cell receptive fields, whereas removing temporal continuity prevents this processes. This model lends a physiologically based explanation of the development of complex cell invariance response properties.

Animals↗