Action understanding and active inference

Active Inference With Empathy Mechanism for Socially Behaved Artificial Agents in Diverse Situations

This article proposes a method for an artificial agent to behave in a social manner. Although defining proper social behavior is difficult because it differs from situation to situation, the agent following the proposed method adaptively behaves appropriately in each situation by empathizing with the surrounding others. The proposed method is achieved by incorporating empathy into active inference. We evaluated the proposed method regarding control of autonomous mobile robots in diverse situations. From the evaluation results, an agent controlled by the proposed method could behave more adaptively socially than an agent controlled by the standard active inference in the diverse situations. In the case of two agents, the agent controlled with the proposed method behaved in a social way that reduced the other agent's travel distance by 13.7% and increased the margin between the agents by 25.8%, even though it increased the agent's travel distance by 8.2%. Also, the agent controlled with the proposed method behaved more socially when it was surrounded by altruistic others but less socially when it was surrounded by selfish others.

Effects of different frequencies music on cortical responses and functional connectivity in patients with minimal conscious state

The objective of this study was to investigate brain activation and functional network patterns during musical interventions in different frequency bands using functional near-infrared spectroscopy, and to provide a basis for more effective music therapy strategy selection for patients in minimally conscious state (MCS). Twenty six MCS patients and 20 healthy people were given music intervention with low frequency (31-180 Hz), medium frequency (180-4k Hz), and high frequency (4k-22k Hz) audio. In MCS patients, low frequency music intervention induced activation of left prefrontal cortex and left primary sensory cortex (S1), also a left-hemisphere lateralization effect of dorsolateral prefrontal cortex (DLPFC). And the functional connectivity of right DLPFC-right S1 was significantly improved by high frequency music intervention. The low frequency and high frequency music may contribute more than medium frequency music to the recovery of consciousness. This study also validated the effectiveness of fNIRS in studies of brain function in MCS patients.

Imagination vs. routines: festive time, weekly time, and the predictive brain

This paper examines the relationship between societal structures shaped by traditions, norms, laws, and customs, and creative expressions in arts and media through the lens of the predictive coding framework in cognitive science. The article proposes that both dimensions of culture can be viewed as adaptations designed to enhance and train the brain's predictive abilities in the social domain. Traditions, norms, laws, and customs foster shared predictions and expectations among individuals, thereby reducing uncertainty in social environments. On the other hand, arts and media expose us to simulated experiences that explore alternative social realities, allowing the predictive machinery of the brain to hone its skills through exposure to a wider array of potentially relevant social circumstances and scenarios. We first review key principles of predictive coding and active inference, and then explore the rationale of cultural traditions and artistic culture in this perspective. Finally, we draw parallels between institutionalized normative habits that stabilize social worlds and creative and imaginative acts that temporarily subvert established conventions to inject variability.

Artificial cognition vs. artificial intelligence for next-generation autonomous robotic agents

The trend in industrial/service robotics is to develop robots that can cooperate with people, interacting with them in an autonomous, safe and purposive way. These are the fundamental elements characterizing the fourth and the fifth industrial revolutions (4IR, 5IR): the crucial innovation is the adoption of intelligent technologies that can allow the development of cyber-physical systems, similar if not superior to humans. The common wisdom is that intelligence might be provided by AI (Artificial Intelligence), a claim that is supported more by media coverage and commercial interests than by solid scientific evidence. AI is currently conceived in a quite broad sense, encompassing LLMs and a lot of other things, without any unifying principle, but self-motivating for the success in various areas. The current view of AI robotics mostly follows a purely disembodied approach that is consistent with the old-fashioned, Cartesian mind-body dualism, reflected in the software-hardware distinction inherent to the von Neumann computing architecture. The working hypothesis of this position paper is that the road to the next generation of autonomous robotic agents with cognitive capabilities requires a fully brain-inspired, embodied cognitive approach that avoids the trap of mind-body dualism and aims at the full integration of Bodyware and Cogniware. We name this approach Artificial Cognition (ACo) and ground it in Cognitive Neuroscience. It is specifically focused on proactive knowledge acquisition based on bidirectional human-robot interaction: the practical advantage is to enhance generalization and explainability. Moreover, we believe that a brain-inspired network of interactions is necessary for allowing humans to cooperate with artificial cognitive agents, building a growing level of personal trust and reciprocal accountability: this is clearly missing, although actively sought, in current AI. The ACo approach is a work in progress that can take advantage of a number of research threads, some of them antecedent the early attempts to define AI concepts and methods. In the rest of the paper we will consider some of the building blocks that need to be re-visited in a unitary framework: the principles of developmental robotics, the methods of action representation with prospection capabilities, and the crucial role of social interaction.

The police hunch: the Bayesian brain, active inference, and the free energy principle in action

In the realm of law enforcement, the "police hunch" has long been a mysterious but crucial aspect of decision-making. Drawing on the developing framework of Active Inference from cognitive science, this theoretical article examines the genesis, mechanics, and implications of the police hunch. It argues that hunches - often vital in high-stakes situations - should not be described as mere intuitions, but as intricate products of our mind's generative models. These models, shaped by observations of the social world and assimilated and enacted through active inference, seek to reduce surprise and make hunches an indispensable tool for officers, in exactly the same way that hypotheses are indispensable for scientists. However, the predictive validity of hunches is influenced by a range of factors, including experience and bias, thus warranting critical examination of their reliability. This article not only explores the formation of police hunches but also provides practical insights for officers and researchers on how to harness the power of active inference to fully understand policing decisions and subsequently explore new avenues for future research.

A review of psychological and neuroscientific research on musical groove

When listening to music, we naturally move our bodies rhythmically to the beat, which can be pleasurable and difficult to resist. This pleasurable sensation of wanting to move the body to music has been called "groove." Following pioneering humanities research, psychological and neuroscientific studies have provided insights on associated musical features, behavioral responses, phenomenological aspects, and brain structural and functional correlates of the groove experience. Groove research has advanced the field of music science and more generally informed our understanding of bidirectional links between perception and action, and the role of the motor system in prediction. Activity in motor and reward-related brain networks during music listening is associated with the groove experience, and this neural activity is linked to temporal prediction and learning. This article reviews research on groove as a psychological phenomenon with neurophysiological correlates that link musical rhythm perception, sensorimotor prediction, and reward processing. Promising future research directions range from elucidating specific neural mechanisms to exploring clinical applications and socio-cultural implications of groove.

Monkey Prefrontal Cortex Learns to Minimize Sequence Prediction Error

In this study, we develop a novel recurrent neural network (RNN) model of pre-frontal cortex that predicts sensory inputs, actions, and outcomes at the next time step. Synaptic weights in the model are adjusted to minimize sequence prediction error, adapting a deep learning rule similar to those of large language models. The model, called Sequence Prediction Error Learning (SPEL), is a simple RNN that predicts world state at the next time step, but that differs from standard RNNs by using its own prediction errors from the previous state predictions as inputs to the hidden units of the network. We show that the time course of sequence prediction errors generated by the model closely matched the activity time courses of populations of neurons in macaque prefrontal cortex. Hidden units in the model responded to combinations of task variables and exhibited sensitivity to changing stimulus probability in ways that closely resembled monkey prefrontal neurons. Moreover, the model generated prolonged response times to infrequent, unexpected events as did monkeys. The results suggest that prefrontal cortex may generate internal models of the temporal structure of the world even during tasks that do not explicitly depend on temporal expectation, using a sequence prediction error minimization learning rule to do so. As such, the SPEL model provides a unified, general-purpose theoretical framework for modeling the lateral prefrontal cortex.

Contextual Priors Shape Action Understanding before and beyond the Unfolding of Movement Kinematics

Previous studies have shown that contextual information may aid in guessing the intention underlying others' actions in conditions of perceptual ambiguity. Here, we aimed to evaluate the temporal deployment of contextual influence on action prediction with increasing availability of kinematic information during the observation of ongoing actions. We used action videos depicting an actor grasping an object placed on a container to perform individual or interpersonal actions featuring different kinematic profiles. Crucially, the container could be of different colors. First, in a familiarization phase, the probability of co-occurrence between each action kinematics and color cues was implicitly manipulated to 80% and 20%, thus generating contextual priors. Then, in a testing phase, participants were asked to predict action outcome when the same action videos were occluded at five different timeframes of the entire movement, ranging from when the actor was still to when the grasp of the object was fully accomplished. In this phase, all possible action-contextual cues' associations were equally presented. The results showed that for all occlusion intervals, action prediction was more facilitated when action kinematics deployed in high- than low-probability contextual scenarios. Importantly, contextual priors shaped action prediction even in the latest occlusion intervals, where the kinematic cues clearly unveiled an action outcome that was previously associated with low-probability scenarios. These residual contextual effects were stronger in individuals with higher subclinical autistic traits. Our findings highlight the relative contribution of kinematic and contextual information to action understanding and provide evidence in favor of their continuous integration during action observation.

Four fundamental dimensions underlie the perception of human actions

We evaluate the actions of other individuals based upon a variety of movements that reveal critical information to guide decision making and behavioural responses. These signals convey a range of information about the actor, including their goals, intentions and internal mental states. Although progress has been made to identify cortical regions involved in action processing, the organising principles underlying our representation of actions still remains unclear. In this paper we investigated the conceptual space that underlies action perception by assessing which qualities are fundamental to the perception of human actions. We recorded 240 different actions using motion-capture and used these data to animate a volumetric avatar that performed the different actions. 230 participants then viewed these actions and rated the extent to which each action demonstrated 23 different action characteristics (e.g., avoiding-approaching, pulling-pushing, weak-powerful). We analysed these data using Exploratory Factor Analysis to examine the latent factors underlying visual action perception. The best fitting model was a four-dimensional model with oblique rotation. We named the factors: friendly-unfriendly, formidable-feeble, planned-unplanned, and abduction-adduction. The first two factors of friendliness and formidableness explained approximately 22% of the variance each, compared to planned and abduction, which explained approximately 7-8% of the variance each; as such we interpret this representation of action space as having 2 + 2 dimensions. A closer examination of the first two factors suggests a similarity to the principal factors underlying our evaluation of facial traits and emotions, whilst the last two factors of planning and abduction appear unique to actions.

Dynamic mutual predictions during social learning: A computational and interbrain model

During social interactions, we constantly learn about the thoughts, feelings, and personality traits of our interaction partners. Learning in social interactions is critical for bond formation and acquiring knowledge. Importantly, this type of learning is typically bi-directional, as both partners learn about each other simultaneously. Here we review the literature on social learning and propose a new computational and neural model characterizing mutual predictions that take place within and between interactions. According to our model, each partner in the interaction attempts to minimize the prediction error of the self and the interaction partner. In most cases, these inferential models become similar over time, thus enabling mutual understanding to develop. At the neural level, this type of social learning may be supported by interbrain plasticity, defined as a change in interbrain coupling over time in neural networks associated with social learning, among them the mentalizing network, the observation-execution system, and the hippocampus. The mutual prediction model constitutes a promising means of providing empirically verifiable accounts of how relationships develop over time.

From active affordance to active inference: vertical integration of cognition in the cerebral cortex through dual subcortical control systems

In previous papers, we proposed that the dorsal attention system's top-down control is regulated by the dorsal division of the limbic system, providing a feedforward or impulsive form of control generating expectancies during active inference. In contrast, we proposed that the ventral attention system is regulated by the ventral limbic division, regulating feedback constraints and error-correction for active inference within the neocortical hierarchy. Here, we propose that these forms of cognitive control reflect vertical integration of subcortical arousal control systems that evolved for specific forms of behavior control. The feedforward impetus to action is regulated by phasic arousal, mediated by lemnothalamic projections from the reticular activating system of the lower brainstem, and then elaborated by the hippocampus and dorsal limbic division. In contrast, feedback constraint-based on environmental requirements-is regulated by the tonic activation furnished by collothalamic projections from the midbrain arousal control centers, and then sustained and elaborated by the amygdala, basal ganglia, and ventral limbic division. In an evolutionary-developmental analysis, understanding these differing forms of active affordance-for arousal and motor control within the subcortical vertebrate neuraxis-may help explain the evolution of active inference regulating the cognition of expectancy and error-correction within the mammalian 6-layered neocortex.

Explanatory power by vagueness. Challenges to the strong prior hypothesis on hallucinations exemplified by the Charles-Bonnet-Syndrome

Predictive processing models are often ascribed a certain generality in conceptually unifying the relationships between perception, action, and cognition or the potential to posit a 'grand unified theory' of the mind. The limitations of this unification can be seen when these models are applied to specific cognitive phenomena or phenomenal consciousness. Our article discusses these shortcomings for predictive processing models of hallucinations by the example of the Charles-Bonnet-Syndrome. This case study shows that the current predictive processing account omits essential characteristics of stimulus-independent perception in general, which has critical phenomenological implications. We argue that the most popular predictive processing model of hallucinatory conditions - the strong prior hypothesis - fails to fully account for the characteristics of nonveridical perceptual experiences associated with Charles-Bonnet-Syndrome. To fill this explanatory gap, we propose that the strong prior hypothesis needs to include reality monitoring to apply to more than just veridical percepts.

Federated inference and belief sharing

This paper concerns the distributed intelligence or federated inference that emerges under belief-sharing among agents who share a common world-and world model. Imagine, for example, several animals keeping a lookout for predators. Their collective surveillance rests upon being able to communicate their beliefs-about what they see-among themselves. But, how is this possible? Here, we show how all the necessary components arise from minimising free energy. We use numerical studies to simulate the generation, acquisition and emergence of language in synthetic agents. Specifically, we consider inference, learning and selection as minimising the variational free energy of posterior (i.e., Bayesian) beliefs about the states, parameters and structure of generative models, respectively. The common theme-that attends these optimisation processes-is the selection of actions that minimise expected free energy, leading to active inference, learning and model selection (a.k.a., structure learning). We first illustrate the role of communication in resolving uncertainty about the latent states of a partially observed world, on which agents have complementary perspectives. We then consider the acquisition of the requisite language-entailed by a likelihood mapping from an agent's beliefs to their overt expression (e.g., speech)-showing that language can be transmitted across generations by active learning. Finally, we show that language is an emergent property of free energy minimisation, when agents operate within the same econiche. We conclude with a discussion of various perspectives on these phenomena; ranging from cultural niche construction, through federated learning, to the emergence of complexity in ensembles of self-organising systems.

Interoceptive technologies for psychiatric interventions: From diagnosis to clinical applications

Interoception-the perception of internal bodily signals-has emerged as an area of interest due to its implications in emotion and the prevalence of dysfunctional interoceptive processes across psychopathological conditions. Despite the importance of interoception in cognitive neuroscience and psychiatry, its experimental manipulation remains technically challenging. This is due to the invasive nature of existing methods, the limitation of self-report and unimodal measures of interoception, and the absence of standardized approaches across disparate fields. This article integrates diverse research efforts from psychology, physiology, psychiatry, and engineering to address this oversight. Following a general introduction to the neurophysiology of interoception as hierarchical predictive processing, we review the existing paradigms for manipulating interoception (e.g., interoceptive modulation), their underlying mechanisms (e.g., interoceptive conditioning), and clinical applications (e.g., interoceptive exposure). We suggest a classification for interoceptive technologies and discuss their potential for diagnosing and treating mental health disorders. Despite promising results, considerable work is still needed to develop standardized, validated measures of interoceptive function across domains and before these technologies can translate safely and effectively to clinical settings.

Augmented action observation: Theory and practical applications in sensorimotor rehabilitation

Sensory feedback is a fundamental aspect of effective motor learning in sport and clinical contexts. One way to provide this is through sensory augmentation, where extrinsic sensory information are associated with, and modulated by, movement. Traditionally, sensory augmentation has been used as an online strategy, where feedback is provided during physical execution of an action. In this article, we argue that action observation can be an additional effective channel to provide augmented feedback, which would be complementary to other, more traditional, motor learning and sensory augmentation strategies. Given these similarities between observing and executing an action, action observation could be used when physical training is difficult or not feasible, for example during immobilization or during the initial stages of a rehabilitation protocol when peripheral fatigue is a common issue. We review the benefits of observational learning and preliminary evidence for the effectiveness of using augmented action observation to improve learning. We also highlight current knowledge gaps which make the transition from laboratory to practical contexts difficult. Finally, we highlight the key areas of focus for future research.

Deep kinematic inference affords efficient and scalable control of bodily movements

Performing goal-directed movements requires mapping goals from extrinsic (workspace-relative) to intrinsic (body-relative) coordinates and then to motor signals. Mainstream approaches based on optimal control realize the mappings by minimizing cost functions, which is computationally demanding. Instead, active inference uses generative models to produce sensory predictions, which allows a cheaper inversion to the motor signals. However, devising generative models to control complex kinematic chains like the human body is challenging. We introduce an active inference architecture that affords a simple but effective mapping from extrinsic to intrinsic coordinates via inference and easily scales up to drive complex kinematic chains. Rich goals can be specified in both intrinsic and extrinsic coordinates using attractive or repulsive forces. The proposed model reproduces sophisticated bodily movements and paves the way for computationally efficient and biologically plausible control of actuated systems.

Active Predictive Coding: A Unifying Neural Model for Active Perception, Compositional Learning, and Hierarchical Planning

There is growing interest in predictive coding as a model of how the brain learns through predictions and prediction errors. Predictive coding models have traditionally focused on sensory coding and perception. Here we introduce active predictive coding (APC) as a unifying model for perception, action, and cognition. The APC model addresses important open problems in cognitive science and AI, including (1) how we learn compositional representations (e.g., part-whole hierarchies for equivariant vision) and (2) how we solve large-scale planning problems, which are hard for traditional reinforcement learning, by composing complex state dynamics and abstract actions from simpler dynamics and primitive actions. By using hypernetworks, self-supervised learning, and reinforcement learning, APC learns hierarchical world models by combining task-invariant state transition networks and task-dependent policy networks at multiple abstraction levels. We illustrate the applicability of the APC model to active visual perception and hierarchical planning. Our results represent, to our knowledge, the first proof-of-concept demonstration of a unified approach to addressing the part-whole learning problem in vision, the nested reference frames learning problem in cognition, and the integrated state-action hierarchy learning problem in reinforcement learning.

Path integrals, particular kinds, and strange things

This paper describes a path integral formulation of the free energy principle. The ensuing account expresses the paths or trajectories that a particle takes as it evolves over time. The main results are a method or principle of least action that can be used to emulate the behaviour of particles in open exchange with their external milieu. Particles are defined by a particular partition, in which internal states are individuated from external states by active and sensory blanket states. The variational principle at hand allows one to interpret internal dynamics-of certain kinds of particles-as inferring external states that are hidden behind blanket states. We consider different kinds of particles, and to what extent they can be imbued with an elementary form of inference or sentience. Specifically, we consider the distinction between dissipative and conservative particles, inert and active particles and, finally, ordinary and strange particles. Strange particles can be described as inferring their own actions, endowing them with apparent autonomy or agency. In short-of the kinds of particles afforded by a particular partition-strange kinds may be apt for describing sentient behaviour.

Predictability alters information flow during action observation in human electrocorticographic activity

The action observation network (AON) has been extensively studied using short, isolated motor acts. How activity in the network is altered when these isolated acts are embedded in meaningful sequences of actions remains poorly understood. Here we utilized intracranial electrocorticography to characterize how the exchange of information across key nodes of the AON-the precentral, supramarginal, and visual cortices-is affected by such embedding and the resulting predictability. We found more top-down beta oscillation from precentral to supramarginal contacts during the observation of predictable actions in meaningful sequences compared to the same actions in randomized, and hence less predictable, order. In addition, we find that expectations enabled by the embedding lead to a suppression of bottom-up visual responses in the high-gamma range in visual areas. These results, in line with predictive coding, inform how nodes of the AON integrate information to process the actions of others.

Is predictive coding falsifiable?

Predictive-coding has justifiably become a highly influential theory in Neuroscience. However, the possibility of its unfalsifiability has been raised. We argue that if predictive-coding were unfalsifiable, it would be a problem, but there are patterns of behavioural and neuroimaging data that would stand against predictive-coding. Contra (vanilla) predictive patterns are those in which the more expected stimulus generates the largest evoked-response. However, basic formulations of predictive-coding mandate that an expected stimulus should generate little, if any, prediction error and thus little, if any, evoked-response. It has, though, been argued that contra (vanilla) predictive patterns can be obtained if precision is higher for expected stimuli. Certainly, using precision, one can increase the amplitude of an evoked-response, turning a predictive into a contra (vanilla) predictive pattern. We demonstrate that, while this is true, it does not present an absolute barrier to falsification. This is because increasing precision also reduces latency and increases the frequency of the response. These properties can be used to determine whether precision-weighting in predictive-coding justifiably explains a contra (vanilla) predictive pattern, ensuring that predictive-coding is falsifiable.

Recursive neural programs: A differentiable framework for learning compositional part-whole hierarchies and image grammars

Human vision, thought, and planning involve parsing and representing objects and scenes using structured representations based on part-whole hierarchies. Computer vision and machine learning researchers have recently sought to emulate this capability using neural networks, but a generative model formulation has been lacking. Generative models that leverage compositionality, recursion, and part-whole hierarchies are thought to underlie human concept learning and the ability to construct and represent flexible mental concepts. We introduce Recursive Neural Programs (RNPs), a neural generative model that addresses the part-whole hierarchy learning problem by modeling images as hierarchical trees of probabilistic sensory-motor programs. These programs recursively reuse learned sensory-motor primitives to model an image within different spatial reference frames, enabling hierarchical composition of objects from parts and implementing a grammar for images. We show that RNPs can learn part-whole hierarchies for a variety of image datasets, allowing rich compositionality and intuitive parts-based explanations of objects. Our model also suggests a cognitive framework for understanding how human brains can potentially learn and represent concepts in terms of recursively defined primitives and their relations with each other.

Incremental Learning of Goal-Directed Actions in a Dynamic Environment by a Robot Using Active Inference

This study investigated how a physical robot can adapt goal-directed actions in dynamically changing environments, in real-time, using an active inference-based approach with incremental learning from human tutoring examples. Using our active inference-based model, while good generalization can be achieved with appropriate parameters, when faced with sudden, large changes in the environment, a human may have to intervene to correct actions of the robot in order to reach the goal, as a caregiver might guide the hands of a child performing an unfamiliar task. In order for the robot to learn from the human tutor, we propose a new scheme to accomplish incremental learning from these proprioceptive-exteroceptive experiences combined with mental rehearsal of past experiences. Our experimental results demonstrate that using only a few tutoring examples, the robot using our model was able to significantly improve its performance on new tasks without catastrophic forgetting of previously learned tasks.

An Introduction to Predictive Processing Models of Perception and Decision-Making

The predictive processing framework includes a broad set of ideas, which might be articulated and developed in a variety of ways, concerning how the brain may leverage predictive models when implementing perception, cognition, decision-making, and motor control. This article provides an up-to-date introduction to the two most influential theories within this framework: predictive coding and active inference. The first half of the paper (Sections 2-5) reviews the evolution of predictive coding, from early ideas about efficient coding in the visual system to a more general model encompassing perception, cognition, and motor control. The theory is characterized in terms of the claims it makes at Marr's computational, algorithmic, and implementation levels of description, and the conceptual and mathematical connections between predictive coding, Bayesian inference, and variational free energy (a quantity jointly evaluating model accuracy and complexity) are explored. The second half of the paper (Sections 6-8) turns to recent theories of active inference. Like predictive coding, active inference models assume that perceptual and learning processes minimize variational free energy as a means of approximating Bayesian inference in a biologically plausible manner. However, these models focus primarily on planning and decision-making processes that predictive coding models were not developed to address. Under active inference, an agent evaluates potential plans (action sequences) based on their expected free energy (a quantity that combines anticipated reward and information gain). The agent is assumed to represent the world as a partially observable Markov decision process with discrete time and discrete states. Current research applications of active inference models are described, including a range of simulation work, as well as studies fitting models to empirical data. The paper concludes by considering future research directions that will be important for further development of both models.

Relative fluency (unfelt vs felt) in active inference

For a growing number of researchers, it is now accepted that the brain is a predictive organ that predicts the content of the sensorium and crucially the precision of-or confidence in-its own predictions. In order to predict the precision of its predictions, the brain has to infer the reliability of its own beliefs. This means that our brains have to recognise the precision of their predictions or, at least, their accuracy. In this paper, we argue that fluency is product of this recognition process. In short, to recognise fluency is to infer that we have a precise 'grip' on the unfolding processes that generate our sensations. More specifically, we propose that it is changes in fluency - from unfelt to felt - that are both recognised and realised when updating predictions about precision. Unfelt fluency orients attention to unpredicted sensations, while felt fluency supervenes on-and contextualises-unfelt fluency; thereby rendering certain attentional processes, phenomenologically opaque. As such, fluency underwrites the precision we place in our predictions and therefore acts upon our perceptual inferences. Hence, the causes of conscious subjective inference have unconscious perceptual precursors.

Simultaneity of consciousness with physical reality: the key that unlocks the mind-matter problem

The problem of explaining the relationship between subjective experience and physical reality remains difficult and unresolved. In most explanations, consciousness is epiphenomenal, without causal power. The most notable exception is Integrated Information Theory (IIT), which provides a causal explanation for consciousness. However, IIT relies on an identity between subjectivity and a particular type of physical structure, namely with an information structure that has intrinsic causal power greater than the sum of its parts. Any theory that relies on a psycho-phyiscal identity must eventually appeal to panpsychism, which undermines that theory's claim to be fundamental. IIT has recently pivoted towards a strong version of causal emergence, but macroscopic structures cannot be stronger causally than their microphysical parts without some new physical law or governing principle. The approach taken here is designed to uncover such a principle. The decisive argument is entirely deductive from initial premises that are phenomenologically certain. If correct, the arguments prove that conscious experience is sufficient to create additional degrees of causal freedom independently of the content of experience, and in a manner that is unpredictable and unobservable by any temporally sequential means. This provides a fundamental principle about consciousness, and a conceptual bridge between it and the physics describing what is experienced. The principle makes testable predictions about brain function, with notable differences from IIT, some of which are also empirically testable.

An active inference model of hierarchical action understanding, learning and imitation

We advance a novel active inference model of the cognitive processing that underlies the acquisition of a hierarchical action repertoire and its use for observation, understanding and imitation. We illustrate the model in four simulations of a tennis learner who observes a teacher performing tennis shots, forms hierarchical representations of the observed actions, and imitates them. Our simulations show that the agent's oculomotor activity implements an active information sampling strategy that permits inferring the kinematic aspects of the observed movement, which lie at the lowest level of the action hierarchy. In turn, this low-level kinematic inference supports higher-level inferences about deeper aspects of the observed actions: proximal goals and intentions. Finally, the inferred action representations can steer imitative responses, but interfere with the execution of different actions. Our simulations show that hierarchical active inference provides a unified account of action observation, understanding, learning and imitation and helps explain the neurobiological underpinnings of visuomotor cognition, including the multiple routes for action understanding in the dorsal and ventral streams and mirror mechanisms.

Motor learning without physical practice: The effects of combined action observation and motor imagery practice on cup-stacking speed

In this study we explored training effects for combined action observation and motor imagery (AO + MI) instructions on a complex cup-stacking task, without physical practice. Using a Graeco-Latin Square design, we randomly assigned twenty-six participants into four groups. This counterbalanced the within-participant factor of practice condition (AO + MI, AO, MI, Control) across four cup-stacking tasks, which varied in their complexity. On each of the three consecutive practice days participants experienced twenty trials under each of the three mental practice conditions. On each trial, a first-person perspective video depicted bilateral cup-stacking performed by an experienced model. During AO, participants passively observed this action, responding only to occasional colour cues. For AO + MI, participants imagined performing the observed action and synchronised their concurrent MI with the display. For MI, a sequence of pictures cued imagery of each stage of the task. Analyses revealed a significant main effect of practice condition both at the 'surprise' post-test (Day 3) and at the one-week retention test. At both time points movement execution times were significantly shorter for AO + MI compared with AO, MI and the Control. Execution times were also shorter overall at the retention compared with the post-test. These results demonstrate that a complex novel motor task can be acquired without physical training. Practitioners can therefore use AO + MI practice to supplement physical practice and optimise skill learning.

Planning to Learn: A Novel Algorithm for Active Learning during Model-Based Planning

Active Inference is a recently developed framework for modeling decision processes under uncertainty. Over the last several years, empirical and theoretical work has begun to evaluate the strengths and weaknesses of this approach and how it might be extended and improved. One recent extension is the "sophisticated inference" (SI) algorithm, which improves performance on multi-step planning problems through a recursive decision tree search. However, little work to date has been done to compare SI to other established planning algorithms in reinforcement learning (RL). In addition, SI was developed with a focus on inference as opposed to learning. The present paper therefore has two aims. First, we compare performance of SI to Bayesian RL schemes designed to solve similar problems. Second, we present and compare an extension of SI - sophisticated learning (SL) - that more fully incorporates active learning during planning. SL maintains beliefs about how model parameters would change under the future observations expected under each policy. This allows a form of counterfactual retrospective inference in which the agent considers what could be learned from current or past observations given different future observations. To accomplish these aims, we make use of a novel, biologically inspired environment that requires an optimal balance between goal-seeking and active learning, and which was designed to highlight the problem structure for which SL offers a unique solution. This setup requires an agent to continually search an open environment for available (but changing) resources in the presence of competing affordances for information gain. Our simulations demonstrate that SL outperforms all other algorithms in this context - most notably, Bayes-adaptive RL and upper confidence bound (UCB) algorithms, which aim to solve multi-step planning problems using similar principles (i.e., directed exploration and counterfactual reasoning about belief updates given different possible actions/observations). These results provide added support for the utility of Active Inference in solving this class of biologically-relevant problems and offer added tools for testing hypotheses about human cognition.

Predictive neural representations of naturalistic dynamic input

Adaptive behavior such as social interaction requires our brain to predict unfolding external dynamics. While theories assume such dynamic prediction, empirical evidence is limited to static snapshots and indirect consequences of predictions. We present a dynamic extension to representational similarity analysis that uses temporally variable models to capture neural representations of unfolding events. We applied this approach to source-reconstructed magnetoencephalography (MEG) data of healthy human subjects and demonstrate both lagged and predictive neural representations of observed actions. Predictive representations exhibit a hierarchical pattern, such that high-level abstract stimulus features are predicted earlier in time, while low-level visual features are predicted closer in time to the actual sensory input. By quantifying the temporal forecast window of the brain, this approach allows investigating predictive processing of our dynamic world. It can be applied to other naturalistic stimuli (e.g., film, soundscapes, music, motor planning/execution, social interaction) and any biosignal with high temporal resolution.

Knee flexion of saxophone players anticipates tonal context of music

Music performance requires high levels of motor control. Professional musicians use body movements not only to accomplish and help technical efficiency, but to shape expressive interpretation. Here, we recorded motion and audio data of twenty participants performing four musical fragments varying in the degree of technical difficulty to analyze how knee flexion is employed by expert saxophone players. Using a computational model of the auditory periphery, we extracted emergent acoustical properties of sound to inference critical cognitive patterns of music processing and relate them to motion data. Results showed that knee flexion is causally linked to tone expectations and correlated to rhythmical density, suggesting that this gesture is associated with expressive and facilitative purposes. Furthermore, when instructed to play immobile, participants tended to microflex (>1 Hz) more frequently compared to when playing expressively, possibly indicating a natural urge to move to the music. These results underline the robustness of body movement in musical performance, providing valuable insights for the understanding of communicative processes, and development of motor learning cues.

A Variational Synthesis of Evolutionary and Developmental Dynamics

This paper introduces a variational formulation of natural selection, paying special attention to the nature of 'things' and the way that different 'kinds' of 'things' are individuated from-and influence-each other. We use the Bayesian mechanics of particular partitions to understand how slow phylogenetic processes constrain-and are constrained by-fast, phenotypic processes. The main result is a formulation of adaptive fitness as a path integral of phenotypic fitness. Paths of least action, at the phenotypic and phylogenetic scales, can then be read as inference and learning processes, respectively. In this view, a phenotype actively infers the state of its econiche under a generative model, whose parameters are learned via natural (Bayesian model) selection. The ensuing variational synthesis features some unexpected aspects. Perhaps the most notable is that it is not possible to describe or model a population of conspecifics per se. Rather, it is necessary to consider populations of distinct natural kinds that influence each other. This paper is limited to a description of the mathematical apparatus and accompanying ideas. Subsequent work will use these methods for simulations and numerical analyses-and identify points of contact with related mathematical formulations of evolution.

Free energy and inference in living systems

Organisms are non-equilibrium, stationary systems self-organized via spontaneous symmetry breaking and undergoing metabolic cycles with broken detailed balance in the environment. The thermodynamic free-energy (FE) principle describes an organism's homeostasis as the regulation of biochemical work constrained by the physical FE cost. By contrast, recent research in neuroscience and theoretical biology explains a higher organism's homeostasis and allostasis as Bayesian inference facilitated by the informational FE. As an integrated approach to living systems, this study presents an FE minimization theory overarching the essential features of both the thermodynamic and neuroscientific FE principles. Our results reveal that the perception and action of animals result from active inference entailed by FE minimization in the brain, and the brain operates as a Schrödinger's machine conducting the neural mechanics of minimizing sensory uncertainty. A parsimonious model suggests that the Bayesian brain develops the optimal trajectories in neural manifolds and induces a dynamic bifurcation between neural attractors in the process of active inference.

To copy or not to copy? That is the question! From chimpanzees to the foundation of human technological culture

A prerequisite for copying innovative behaviour faithfully is the capacity of observers' brains, regarded as 'hierarchically mechanistic minds', to overcome cognitive 'surprisal' (see 2.), by maximising the evidence for their internal models, through active inference. Unlike modern humans, chimpanzees and other great apes show considerable limitations in their ability, or 'Zone of Bounded Surprisal', to overcome cognitive surprisal induced by innovative or unorthodox behaviour that rarely, therefore, is copied precisely or accurately. Most can copy adequately what is within their phenotypically habitual behavioural repertoire, in which technology plays scant part. Widespread intra- and intergenerational social transmission of complex technological innovations is not a hall-mark of great-ape taxa. 3 Ma, precursors of the genus Homo made stone artefacts, and stone-flaking likely was habitual before 2 Ma. After that time, early Homo erectus has left traces of technological innovations, though faithful copying of these and their intra- and intergenerational social transmission were rare before 1 Ma. This likely owed to a cerebral infrastructure of interconnected neuronal systems more limited than ours. Brains were smaller in size than ours, and cerebral neuronal systems ceased to develop when early Homo erectus attained full adult maturity by the mid-teen years, whereas its development continues until our mid-twenties nowadays. Pleistocene Homo underwent remarkable evolutionary adaptation of neurobiological propensities, and cerebral aspects are discussed that, it is proposed here, plausibly, were fundamental for faithful copying, which underpinned social transmission of technologies, cumulative learning, and culture. Here, observers' responses to an innovation are more important for ensuring its transmission than is an innovator's production of it, because, by themselves, the minimal cognitive prerequisites that are needed for encoding and assimilating innovations are insufficient for practical outcomes to accumulate and spread intra- and intergenerationally.

A dynamical model of visual motion processing for arbitrary stimuli including type II plaids

To explore the operating principle of visual motion processing in the brain underlying perception and eye movements, we model the information processing of velocity estimate of the visual stimulus at the algorithmic level using the dynamical system approach. In this study, we formulate the model as an optimization process of an appropriately defined objective function. The model is applicable to arbitrary visual stimuli. We find that our theoretical predictions qualitatively agree with time evolution of eye movement reported by previous works across various types of stimulus. Our results suggest that the brain implements the present framework as the internal model of motion vision. We anticipate our model to be a promising building block for more profound understanding of visual motion processing as well as for the development of robotics.

Functional connectivity abnormalities of brain networks in obsessive–compulsive disorder: a systematic review

Obsessive-compulsive disorder (OCD) is characterized by cognitive abnormalities encompassing several executive processes. Neuroimaging studies highlight functional abnormalities of executive fronto-parietal network (FPN) and default-mode network (DMN) in OCD patients, as well as of the prefrontal cortex (PFC) more specifically. We aim at assessing the presence of functional connectivity (FC) abnormalities of intrinsic brain networks and PFC in OCD, possibly underlying specific computational impairments and clinical manifestations. A systematic review of resting-state fMRI studies investigating FC was conducted in unmedicated OCD patients by querying three scientific databases (PubMed, Scopus, PsycInfo) up to July 2022 (search terms: “obsessive–compulsive disorder” AND “resting state” AND “fMRI” AND “function* *connect*” AND “task-positive” OR “executive” OR “central executive” OR “executive control” OR “executive-control” OR “cognitive control” OR “attenti*” OR “dorsal attention” OR “ventral attention” OR “frontoparietal” OR “fronto-parietal” OR “default mode” AND “network*” OR “system*”). Collectively, 20 studies were included. A predominantly reduced FC of DMN – often related to increased symptom severity – emerged. Additionally, intra-network FC of FPN was predominantly increased and often positively related to clinical scores. Concerning PFC, a predominant hyper-connectivity of right-sided prefrontal links emerged. Finally, FC of lateral prefrontal areas correlated with specific symptom dimensions. Several sources of heterogeneity in methodology might have affected results in unpredictable ways and were discussed. Such findings might represent endophenotypes of OCD manifestations, possibly reflecting computational impairments and difficulties in engaging in self-referential processes or in disengaging from cognitive control and monitoring processes.

Reaction Time "Mismatch Costs" Change with the Likelihood of Stimulus-Response Compatibility

Dyadic interactions require dynamic correspondence between one's own movements and those of the other agent. This mapping is largely viewed as imitative, with the behavioural hallmark being a reaction-time cost for mismatched actions. Yet the complex motor patterns humans enact together extend beyond direct-matching, varying adaptively between imitation, complementary movements, and counter-imitation. Optimal behaviour requires an agent to predict not only what is likely to be observed but also how that observed action will relate to their own motor planning. In 28 healthy adults, we examined imitation and counter-imitation in a task that varied the likelihood of stimulus-response congruence from highly predictable, to moderately predictable, to unpredictable. To gain mechanistic insights into the statistical learning of stimulus-response compatibility, we compared two computational models of behaviour: (1) a classic fixed learning-rate model (Rescorla-Wagner reinforcement [RW]) and (2) a hierarchical model of perceptual-behavioural processes in which the learning rate adapts to the inferred environmental volatility (hierarchical Gaussian filter [HGF]). Though more complex and hence penalized by model selection, the HGF provided a more likely model of the participants' behaviour. Matching motor responses were only primed (faster) in the most experimentally volatile context. This bias was reversed so that mismatched actions were primed when beliefs about volatility were lower. Inferential statistics indicated that matching responses were only primed in unpredictable contexts when stimuli-response congruence was at 50:50 chance. Outside of these unpredictable blocks the classic stimulus-response compatibility effect was reversed: Incongruent responses were faster than congruent ones. We show that hierarchical Bayesian learning of environmental statistics may underlie response priming during dyadic interactions.

Turn-Taking Mechanisms in Imitative Interaction: Robotic Social Interaction Based on the Free Energy Principle

This study explains how the leader-follower relationship and turn-taking could develop in a dyadic imitative interaction by conducting robotic simulation experiments based on the free energy principle. Our prior study showed that introducing a parameter during the model training phase can determine leader and follower roles for subsequent imitative interactions. The parameter is defined as w, the so-called meta-prior, and is a weighting factor used to regulate the complexity term versus the accuracy term when minimizing the free energy. This can be read as sensory attenuation, in which the robot's prior beliefs about action are less sensitive to sensory evidence. The current extended study examines the possibility that the leader-follower relationship shifts depending on changes in w during the interaction phase. We identified a phase space structure with three distinct types of behavioral coordination using comprehensive simulation experiments with sweeps of w of both robots during the interaction. Ignoring behavior in which the robots follow their own intention was observed in the region in which both ws were set to large values. One robot leading, followed by the other robot was observed when one w was set larger and the other was set smaller. Spontaneous, random turn-taking between the leader and the follower was observed when both ws were set at smaller or intermediate values. Finally, we examined a case of slowly oscillating w in anti-phase between the two agents during the interaction. The simulation experiment resulted in turn-taking in which the leader-follower relationship switched during determined sequences, accompanied by periodic shifts of ws. An analysis using transfer entropy found that the direction of information flow between the two agents also shifted along with turn-taking. Herein, we discuss qualitative differences between random/spontaneous turn-taking and agreed-upon sequential turn-taking by reviewing both synthetic and empirical studies.

Foundations of human spatial problem solving

Despite great strides in both machine learning and neuroscience, we do not know how the human brain solves problems in the general sense. We approach this question by drawing on the framework of engineering control theory. We demonstrate a computational neural model with only localist learning laws that is able to find solutions to arbitrary problems. The model and humans perform a multi-step task with arbitrary and changing starting and desired ending states. Using a combination of computational neural modeling, human fMRI, and representational similarity analysis, we show here that the roles of a number of brain regions can be reinterpreted as interacting mechanisms of a control theoretic system. The results suggest a new set of functional perspectives on the orbitofrontal cortex, hippocampus, basal ganglia, anterior temporal lobe, lateral prefrontal cortex, and visual cortex, as well as a new path toward artificial general intelligence.

Flexible intentions: An Active Inference theory

We present a normative computational theory of how the brain may support visually-guided goal-directed actions in dynamically changing environments. It extends the Active Inference theory of cortical processing according to which the brain maintains beliefs over the environmental state, and motor control signals try to fulfill the corresponding sensory predictions. We propose that the neural circuitry in the Posterior Parietal Cortex (PPC) compute flexible intentions-or motor plans from a belief over targets-to dynamically generate goal-directed actions, and we develop a computational formalization of this process. A proof-of-concept agent embodying visual and proprioceptive sensors and an actuated upper limb was tested on target-reaching tasks. The agent behaved correctly under various conditions, including static and dynamic targets, different sensory feedbacks, sensory precisions, intention gains, and movement policies; limit conditions were individuated, too. Active Inference driven by dynamic and flexible intentions can thus support goal-directed behavior in constantly changing environments, and the PPC might putatively host its core intention mechanism. More broadly, the study provides a normative computational basis for research on goal-directed behavior in end-to-end settings and further advances mechanistic theories of active biological systems.

Anticipation across modalities in children and adults: Relating anticipatory alpha rhythm lateralization, reaction time, and executive function

The development of the ability to anticipate-as manifested by preparatory actions and neural activation related to the expectation of an upcoming stimulus-may play a key role in the ontogeny of cognitive skills more broadly. This preregistered study examined anticipatory brain potentials and behavioral responses (reaction time; RT) to anticipated target stimuli in relation to individual differences in the ability to use goals to direct action (as indexed by measures of executive function; EF). A cross-sectional investigation was conducted in 40 adults (aged 18-25 years) and 40 children (aged 6-8 years) to examine the association of changes in the amplitude of modality-specific alpha-range rhythms in the electroencephalogram (EEG) during anticipation of lateralized visual, tactile, or auditory stimuli with inter- and intraindividual variation in RT and EF. Children and adults exhibited contralateral anticipatory reductions in the mu rhythm and the visual alpha rhythm for tactile and visual anticipation, respectively, indicating modality and spatially specific attention allocation. Variability in within-subject anticipatory alpha lateralization (the difference between contralateral and ipsilateral alpha power) was related to single-trial RT. This relation was more prominent in adults than in children, and was not apparent for auditory stimuli. Multilevel models indicated that interindividual differences in anticipatory mu rhythm lateralization contributed to the significant association with variability in EF, but this was not the case for visual or auditory alpha rhythms. Exploratory microstate analyses were undertaken to cluster global field power (GFP) into a distribution-free temporal analysis examining developmental differences across samples and in relation to RT and EF. Anticipation is suggested as a developmental bridge construct connecting neuroscience, behavior, and cognition, with anticipatory EEG oscillations being discussed as quantifiable and potentially malleable indicators of stimulus prediction.

Rethinking statistical learning as a continuous dynamic stochastic process, from the motor systems perspective

The brain integrates streams of sensory input and builds accurate predictions, while arriving at stable percepts under disparate time scales. This stochastic process bears different unfolding dynamics for different people, yet statistical learning (SL) currently averages out, as noise, individual fluctuations in data streams registered from the brain as the person learns. We here adopt a new analytical approach that instead of averaging out fluctuations in continuous electroencephalographic (EEG)-based data streams, takes these gross data as the important signals. Our new approach reassesses how individuals dynamically learn predictive information in stable and unstable environments. We find neural correlates for two types of learners in a visuomotor task: narrow-variance learners, who retain explicit knowledge of the regularity embedded in the stimuli. They seem to use an error-correction strategy steadily present in both stable and unstable environments. This strategy can be captured by current optimization-based computational frameworks. In contrast, broad-variance learners emerge only in the unstable environment. Local analyses of the moment-by-moment fluctuations, naïve to the overall outcome, reveal an initial period of memoryless learning, well characterized by a continuous gamma process starting out exponentially distributed whereby all future events are equally probable, with high signal (mean) to noise (variance) ratio. The empirically derived continuous Gamma process smoothly converges to predictive Gaussian signatures comparable to those observed for the error-corrective mode that is captured by current optimization-driven computational models. We coin this initially seemingly purposeless stage exploratory. Globally, we examine a posteriori the fluctuations in distributions' shapes over the empirically estimated stochastic signatures. We then confirm that the exploratory mode of those learners, free of expectation, random and memoryless, but with high signal, precedes the acquisition of the error-correction mode boasting smooth transition from exponential to symmetric distributions' shapes. This early naïve phase of the learning process has been overlooked by current models driven by expected, predictive information and error-based learning. Our work demonstrates that (statistical) learning is a highly dynamic and stochastic process, unfolding at different time scales, and evolving distinct learning strategies on demand.

Neural underpinning of Japanese particle processing in non-native speakers

Grammar acquisition by non-native learners (L2) is typically less successful and may produce fundamentally different grammatical systems than that by native speakers (L1). The neural representation of grammatical processing between L1 and L2 speakers remains controversial. We hypothesized that working memory is the primary source of L1/L2 differences, by considering working memory within the predictive coding account, which models grammatical processes as higher-level neuronal representations of cortical hierarchies, generating predictions (forward model) of lower-level representations. A functional MRI study was conducted with L1 Japanese speakers and highly proficient Japanese learners requiring oral production of grammatically correct Japanese particles. We assumed selecting proper particles requires forward model-dependent processes of working memory as their functions are highly context-dependent. As a control, participants read out a visually designated mora indicated by underlining. Particle selection by L1/L2 groups commonly activated the bilateral inferior frontal gyrus/insula, pre-supplementary motor area, left caudate, middle temporal gyrus, and right cerebellum, which constituted the core linguistic production system. In contrast, the left inferior frontal sulcus, known as the neural substrate of verbal working memory, showed more prominent activation in L2 than in L1. Thus, the working memory process causes L1/L2 differences even in highly proficient L2 learners.

The neuroanatomy of social trust predicts depression vulnerability

Trust attitude is a social personality trait linked with the estimation of others’ trustworthiness. Trusting others, however, can have substantial negative effects on mental health, such as the development of depression. Despite significant progress in understanding the neurobiology of trust, whether the neuroanatomy of trust is linked with depression vulnerability remains unknown. To investigate a link between the neuroanatomy of trust and depression vulnerability, we assessed trust and depressive symptoms and employed neuroimaging to acquire brain structure data of healthy participants. A high depressive symptom score was used as an indicator of depression vulnerability. The neuroanatomical results observed with the healthy sample were validated in a sample of clinically diagnosed depressive patients. We found significantly higher depressive symptoms among low trusters than among high trusters. Neuroanatomically, low trusters and depressive patients showed similar volume reduction in brain regions implicated in social cognition, including the dorsolateral prefrontal cortex (DLPFC), dorsomedial PFC, posterior cingulate, precuneus, and angular gyrus. Furthermore, the reduced volume of the DLPFC and precuneus mediated the relationship between trust and depressive symptoms. These findings contribute to understanding social- and neural-markers of depression vulnerability and may inform the development of social interventions to prevent pathological depression.

White matter connectivity in brain networks supporting social and affective processing predicts real-world social network characteristics

Human behavior is embedded in social networks. Certain characteristics of the positions that people occupy within these networks appear to be stable within individuals. Such traits likely stem in part from individual differences in how people tend to think and behave, which may be driven by individual differences in the neuroanatomy supporting socio-affective processing. To investigate this possibility, we reconstructed the full social networks of three graduate student cohorts (N = 275; N = 279; N = 285), a subset of whom (N = 112) underwent diffusion magnetic resonance imaging. Although no single tract in isolation appears to be necessary or sufficient to predict social network characteristics, distributed patterns of white matter microstructural integrity in brain networks supporting social and affective processing predict eigenvector centrality (how well-connected someone is to well-connected others) and brokerage (how much one connects otherwise unconnected others). Thus, where individuals sit in their real-world social networks is reflected in their structural brain networks. More broadly, these results suggest that the application of data-driven methods to neuroimaging data can be a promising approach to investigate how brains shape and are shaped by individuals' positions in their real-world social networks.

Redressing the emperor in causal clothing

Over-flexibility in the definition of Friston blankets obscures a key distinction between observational and interventional inference. The latter requires cognizers form not just a causal representation of the world but also of their own boundary and relationship with it, in order to diagnose the consequences of their actions. We suggest this locates the blanket in the eye of the beholder.