Hugo L. Fernandes

Using psychophysics to ask if the brain samples or maximizes

The two-alternative forced-choice (2AFC) task is the workhorse of psychophysics and is used to measure the just-noticeable difference, generally assumed to accurately quantify sensory precision. However, this assumption is not true for all mechanisms of decision making. Here we derive the behavioral predictions for two popular mechanisms, sampling and maximum a posteriori, and examine how they affect the outcome of the 2AFC task. These predictions are used in a combined visual 2AFC and estimation experiment. Our results strongly suggest that subjects use a maximum a posteriori mechanism. Further, our derivations and experimental paradigm establish the already standard 2AFC task as a behavioral tool for measuring how humans make decisions under uncertainty.

Bayesian integration and non-linear feedback control in a full-body motor task

A large number of experiments have asked to what degree human reaching movements can be understood as being close to optimal in a statistical sense. However, little is known about whether these principles are relevant for other classes of movements. Here we analyzed movement in a task that is similar to surfing or snowboarding. Human subjects stand on a force plate that measures their center of pressure. This center of pressure affects the acceleration of a cursor that is displayed in a noisy fashion (as a cloud of dots) on a projection screen while the subject is incentivized to keep the cursor close to a fixed position. We find that salient aspects of observed behavior are well-described by optimal control models where a Bayesian estimation model (Kalman filter) is combined with an optimal controller (either a Linear-Quadratic-Regulator or Bang-bang controller). We find evidence that subjects integrate information over time taking into account uncertainty. However, behavior in this continuous steering task appears to be a highly non-linear function of the visual feedback. While the nervous system appears to implement Bayes-like mechanisms for a full-body, dynamic task, it may additionally take into account the specific costs and constraints of the task.

Saliency and Saccade Encoding in the Frontal Eye Field During Natural Scene Search

The frontal eye field (FEF) plays a central role in saccade selection and execution. Using artificial stimuli, many studies have shown that the activity of neurons in the FEF is affected by both visually salient stimuli in a neurons receptive field and upcoming saccades in a certain direction. However, the extent to which visual and motor information is represented in the FEF in the context of the cluttered natural scenes we encounter during everyday life has not been explored. Here, we model the activities of neurons in the FEF, recorded while monkeys were searching natural scenes, using both visual and saccade information. We compare the contribution of bottom-up visual saliency (based on low-level features such as brightness, orientation, and color) and saccade direction. We find that, while saliency is correlated with the activities of some neurons, this relationship is ultimately driven by activities related to movement. Although bottom-up visual saliency contributes to the choice of saccade targets, it does not appear that FEF neurons actively encode the kind of saliency posited by popular saliency map theories. Instead, our results emphasize the FEFs role in the stages of saccade planning directly related to movement generation.

Toward Perceiving Robots as Humans: Three Handshake Models Face the Turing-Like Handshake Test

In the Turing test a computer model is deemed to “think intelligently” if it can generate answers that are indistinguishable from those of a human. We developed an analogous Turing-like handshake test to determine if a machine can produce similarly indistinguishable movements. The test is administered through a telerobotic system in which an interrogator holds a robotic stylus and interacts with another party - artificial or human with varying levels of noise. The interrogator is asked which party seems to be more human. Here, we compare the human-likeness levels of three different models for handshake: (1) Tit-for-Tat model, (2) λ model, and (3) Machine Learning model. The Tit-for-Tat and the Machine Learning models generated handshakes that were perceived as the most human-like among the three models that were tested. Combining the best aspects of each of the three models into a single robotic handshake algorithm might allow us to advance our understanding of the way the nervous system controls sensorimotor interactions and further improve the human-likeness of robotic handshakes.

Primary motor cortical discharge during force field adaptation reflects muscle-like dynamics.

We often make reaching movements having similar trajectories within very different mechanical environments, for example, with and without an added load in the hand. Under these varying conditions, our kinematic intentions must be transformed into muscle commands that move the limbs. Primary motor cortex (M1) has been implicated in the neural mechanism that mediates this adaptation to new movement dynamics, but our recent experiments suggest otherwise. We have recorded from electrode arrays that were chronically implanted in M1 as monkeys made reaching movements under two different dynamic conditions: the movements were opposed by either a clockwise or counterclockwise velocity-dependent force field acting at the hand. Under these conditions, the preferred direction (PD) of neural discharge for nearly all neurons rotated in the direction of the applied field, as did those of proximal limb electromyograms (EMGs), although the median neural rotation was significantly smaller than that of muscles. For a given neuron, the rotation angle was very consistent, even across multiple sessions. Within the limits of measurement uncertainty, both the neural and EMG changes occurred nearly instantaneously, reaching a steady state despite ongoing behavioral adaptation. Our results suggest that M1 is not directly involved in the adaptive changes that occurred within an experimental session. Rather, most M1 neurons are directly related to the dynamics of muscle activation that themselves reflect the external load. It appears as though gain modulation, the differential recruitment of M1 neurons by higher motor areas, can account for the load and behavioral adaptation-related changes in M1 discharge.

Measuring generalization of visuomotor perturbations in wrist movements using mobile phones

Recent studies in motor control have shown that visuomotor rotations for reaching have narrow generalization functions: what we learn during movements in one direction only affects subsequent movements into close directions. Here we wanted to measure the generalization functions for wrist movement. To do so we had 7 subjects performing an experiment holding a mobile phone in their dominant hand. The mobile phones built in acceleration sensor provided a convenient way to measure wrist movements and to run the behavioral protocol. Subjects moved a cursor on the screen by tilting the phone. Movements on the screen toward the training target were rotated and we then measured how learning of the rotation in the training direction affected subsequent movements in other directions. We find that generalization is local and similar to generalization patterns of visuomotor rotation for reaching.

The Generalization of Prior Uncertainty during Reaching

Bayesian statistics defines how new information, given by a likelihood, should be combined with previously acquired information, given by a prior distribution. Many experiments have shown that humans make use of such priors in cognitive, perceptual, and motor tasks, but where do priors come from? As people never experience the same situation twice, they can only construct priors by generalizing from similar past experiences. Here we examine the generalization of priors over stochastic visuomotor perturbations in reaching experiments. In particular, we look into how the first two moments of the prior—the mean and variance (uncertainty)—generalize. We find that uncertainty appears to generalize differently from the mean of the prior, and an interesting asymmetry arises when the mean and the uncertainty are manipulated simultaneously.

Quantifying Mesoscale Neuroanatomy Using X-Ray Microtomography

Visual Abstract Methods for resolving the three-dimensional (3D) microstructure of the brain typically start by thinly slicing and staining the brain, followed by imaging numerous individual sections with visible light photons or electrons. In contrast, X-rays can be used to image thick samples, providing a rapid approach for producing large 3D brain maps without sectioning. Here we demonstrate the use of synchrotron X-ray microtomography (µCT) for producing mesoscale (∼1 µm 3 resolution) brain maps from millimeter-scale volumes of mouse brain. We introduce a pipeline for µCT-based brain mapping that develops and integrates methods for sample preparation, imaging, and automated segmentation of cells, blood vessels, and myelinated axons, in addition to statistical analyses of these brain structures. Our results demonstrate that X-ray tomography achieves rapid quantification of large brain volumes, complementing other brain mapping and connectomics efforts.

In Praise of “False” Models and Rich Data

ABSTRACT The authors argue that “true” models that aim at faithfully mimicking or reproducing every property of the sensorimotor system cannot be compact as they need many free parameters. Consequently, most scientists in motor control use what are called “false” models—models that derive from well-defined approximations. The authors conceptualize these models as a priori limited in scope and approximate. As such, they argue that a quantitative characterization of the deviations between the system and the model, more than the mere act of falsifying, allows scientists to make progress in understanding the sensorimotor system. Ultimately, this process should result in models that explain as much data variance as possible. The authors conclude by arguing that progress in that direction could strongly benefit from databases of experimental results and collections of models.

Generalization of Stochastic Visuomotor Rotations

Generalization studies examine the influence of perturbations imposed on one movement onto other movements. The strength of generalization is traditionally interpreted as a reflection of the similarity of the underlying neural representations. Uncertainty fundamentally affects both sensory integration and learning and is at the heart of many theories of neural representation. However, little is known about how uncertainty, resulting from variability in the environment, affects generalization curves. Here we extend standard movement generalization experiments to ask how uncertainty affects the generalization of visuomotor rotations. We find that although uncertainty affects how fast subjects learn, the perturbation generalizes independently of uncertainty.