Policy compression: An information bottleneck in action selection

The geometry of efficient codes: How rate-distortion trade-offs distort the latent representations of generative models

Living organisms rely on internal models of the world to act adaptively. These models, because of resource limitations, cannot encode every detail and hence need to compress information. From a cognitive standpoint, information compression can manifest as a distortion of latent representations, resulting in the emergence of representations that may not accurately reflect the external world or its geometry. Rate-distortion theory formalizes the optimal way to compress information while minimizing such distortions, by considering factors such as capacity limitations, the frequency and the utility of stimuli. However, while this theory explains why the above factors distort latent representations, it does not specify which specific distortions they produce. To address this question, here we investigate how rate-distortion trade-offs shape the latent representations of images in generative models, specifically Beta Variational Autoencoders ([Formula: see text]-VAEs), under varying constraints of model capacity, data distributions, and task objectives. By systematically exploring these factors, we identify three primary distortions in latent representations: prototypization, specialization, and orthogonalization. These distortions emerge as signatures of information compression, reflecting the model's adaptation to capacity limitations, data imbalances, and task demands. Additionally, our findings demonstrate that these distortions can coexist, giving rise to a rich landscape of latent spaces, whose geometry could differ significantly across generative models subject to different constraints. Our findings contribute to explain how the normative constraints of rate-distortion theory shape the geometry of latent representations of generative models of artificial systems and living organisms.

Statistical signature of subtle behavioral changes in large-scale assays

The central nervous system can generate various behaviors, including motor responses, which we can observe through video recordings. Recent advances in gene manipulation, automated behavioral acquisition at scale, and machine learning enable us to causally link behaviors to their underlying neural mechanisms. Moreover, in some animals, such as the Drosophila melanogaster larva, this mapping is possible at the unprecedented scale of single neurons, allowing us to identify the neural microcircuits generating particular behaviors. These high-throughput screening efforts, linking the activation or suppression of specific neurons to behavioral patterns in millions of animals, provide a rich dataset to explore the diversity of nervous system responses to the same stimuli. However, important challenges remain in identifying subtle behaviors, including immediate and delayed responses to neural activation or suppression, and understanding these behaviors on a large scale. We here introduce several statistically robust methods for analyzing behavioral data in response to these challenges: 1) A generative physical model that regularizes the inference of larval shapes across the entire dataset. 2) An unsupervised kernel-based method for statistical testing in learned behavioral spaces aimed at detecting subtle deviations in behavior. 3) A generative model for larval behavioral sequences, providing a benchmark for identifying higher-order behavioral changes. 4) A comprehensive analysis technique using suffix trees to categorize genetic lines into clusters based on common action sequences. We showcase these methodologies through a behavioral screen focused on responses to an air puff, analyzing data from 280 716 larvae across 569 genetic lines.

Computational rationality and developmental neurodivergence

The role of behaviour - choices, actions, and habits - in shaping neurodivergent development remains unclear. In this forum article we introduce computational rationality as a framework for understanding dynamic feedback between brain and behavioural development, and neurodevelopmental variation.

Policy Complexity Suppresses Dopamine Responses

Limits on information processing capacity impose limits on task performance. We show that male and female mice achieve performance on a perceptual decision task that is near-optimal given their capacity limits, as measured by policy complexity (the mutual information between states and actions). This behavioral profile could be achieved by reinforcement learning with a penalty on high complexity policies, realized through modulation of dopaminergic learning signals. In support of this hypothesis, we find that policy complexity suppresses midbrain dopamine responses to reward outcomes. Furthermore, neural and behavioral reward sensitivity were positively correlated across sessions. Our results suggest that policy compression shapes basic mechanisms of reinforcement learning in the brain.

An algorithmic account for how humans efficiently learn, transfer, and compose hierarchically structured decision policies

Learning structures that effectively abstract decision policies is key to the flexibility of human intelligence. Previous work has shown that humans use hierarchically structured policies to efficiently navigate complex and dynamic environments. However, the computational processes that support the learning and construction of such policies remain insufficiently understood. To address this question, we tested 1026 human participants, who made over 1 million choices combined, in a decision-making task where they could learn, transfer, and recompose multiple sets of hierarchical policies. We propose a novel algorithmic account for the learning processes underlying observed human behavior. We show that humans rely on compressed policies over states in early learning, which gradually unfold into hierarchical representations via meta-learning and Bayesian inference. Our modeling evidence suggests that these hierarchical policies are structured in a temporally backward, rather than forward, fashion. Taken together, these algorithmic architectures characterize how the interplay between reinforcement learning, policy compression, meta-learning, and working memory supports structured decision-making and compositionality in a resource-rational way.

Understanding dual process cognition via the minimum description length principle

Dual-process theories play a central role in both psychology and neuroscience, figuring prominently in domains ranging from executive control to reward-based learning to judgment and decision making. In each of these domains, two mechanisms appear to operate concurrently, one relatively high in computational complexity, the other relatively simple. Why is neural information processing organized in this way? We propose an answer to this question based on the notion of compression. The key insight is that dual-process structure can enhance adaptive behavior by allowing an agent to minimize the description length of its own behavior. We apply a single model based on this observation to findings from research on executive control, reward-based learning, and judgment and decision making, showing that seemingly diverse dual-process phenomena can be understood as domain-specific consequences of a single underlying set of computational principles.

Policy complexity suppresses dopamine responses

Limits on information processing capacity impose limits on task performance. We show that animals achieve performance on a perceptual decision task that is near-optimal given their capacity limits, as measured by policy complexity (the mutual information between states and actions). This behavioral profile could be achieved by reinforcement learning with a penalty on high complexity policies, realized through modulation of dopaminergic learning signals. In support of this hypothesis, we find that policy complexity suppresses midbrain dopamine responses to reward outcomes, thereby reducing behavioral sensitivity to these outcomes. Our results suggest that policy compression shapes basic mechanisms of reinforcement learning in the brain.

Expanding horizons in reinforcement learning for curious exploration and creative planning

Curiosity and creativity are expressions of the trade-off between leveraging that with which we are familiar or seeking out novelty. Through the computational lens of reinforcement learning, we describe how formulating the value of information seeking and generation via their complementary effects on planning horizons formally captures a range of solutions to striking this balance.

Applying Generative Artificial Intelligence to cognitive models of decision making

Introduction

Generative Artificial Intelligence has made significant impacts in many fields, including computational cognitive modeling of decision making, although these applications have not yet been theoretically related to each other. This work introduces a categorization of applications of Generative Artificial Intelligence to cognitive models of decision making.

Methods

This categorization is used to compare the existing literature and to provide insight into the design of an ablation study to evaluate our proposed model in three experimental paradigms. These experiments used for model comparison involve modeling human learning and decision making based on both visual information and natural language, in tasks that vary in realism and complexity. This comparison of applications takes as its basis Instance-Based Learning Theory, a theory of experiential decision making from which many models have emerged and been applied to a variety of domains and applications.

Results

The best performing model from the ablation we performed used a generative model to both create memory representations as well as predict participant actions. The results of this comparison demonstrates the importance of generative models in both forming memories and predicting actions in decision-modeling research.

Discussion

In this work, we present a model that integrates generative and cognitive models, using a variety of stimuli, applications, and training methods. These results can provide guidelines for cognitive modelers and decision making researchers interested in integrating Generative AI into their methods.

Bayesian Reinforcement Learning With Limited Cognitive Load

All biological and artificial agents must act given limits on their ability to acquire and process information. As such, a general theory of adaptive behavior should be able to account for the complex interactions between an agent's learning history, decisions, and capacity constraints. Recent work in computer science has begun to clarify the principles that shape these dynamics by bridging ideas from reinforcement learning, Bayesian decision-making, and rate-distortion theory. This body of work provides an account of capacity-limited Bayesian reinforcement learning, a unifying normative framework for modeling the effect of processing constraints on learning and action selection. Here, we provide an accessible review of recent algorithms and theoretical results in this setting, paying special attention to how these ideas can be applied to studying questions in the cognitive and behavioral sciences.

Active reinforcement learning versus action bias and hysteresis: control with a mixture of experts and nonexperts

Active reinforcement learning enables dynamic prediction and control, where one should not only maximize rewards but also minimize costs such as of inference, decisions, actions, and time. For an embodied agent such as a human, decisions are also shaped by physical aspects of actions. Beyond the effects of reward outcomes on learning processes, to what extent can modeling of behavior in a reinforcement-learning task be complicated by other sources of variance in sequential action choices? What of the effects of action bias (for actions per se) and action hysteresis determined by the history of actions chosen previously? The present study addressed these questions with incremental assembly of models for the sequential choice data from a task with hierarchical structure for additional complexity in learning. With systematic comparison and falsification of computational models, human choices were tested for signatures of parallel modules representing not only an enhanced form of generalized reinforcement learning but also action bias and hysteresis. We found evidence for substantial differences in bias and hysteresis across participants-even comparable in magnitude to the individual differences in learning. Individuals who did not learn well revealed the greatest biases, but those who did learn accurately were also significantly biased. The direction of hysteresis varied among individuals as repetition or, more commonly, alternation biases persisting from multiple previous actions. Considering that these actions were button presses with trivial motor demands, the idiosyncratic forces biasing sequences of action choices were robust enough to suggest ubiquity across individuals and across tasks requiring various actions. In light of how bias and hysteresis function as a heuristic for efficient control that adapts to uncertainty or low motivation by minimizing the cost of effort, these phenomena broaden the consilient theory of a mixture of experts to encompass a mixture of expert and nonexpert controllers of behavior.

Goal-directed learning in adolescence: neurocognitive development and contextual influences

Adolescence is a time during which we transition to independence, explore new activities and begin pursuit of major life goals. Goal-directed learning, in which we learn to perform actions that enable us to obtain desired outcomes, is central to many of these processes. Currently, our understanding of goal-directed learning in adolescence is itself in a state of transition, with the scientific community grappling with inconsistent results. When we examine metrics of goal-directed learning through the second decade of life, we find that many studies agree there are steady gains in performance in the teenage years, but others report that adolescent goal-directed learning is already adult-like, and some find adolescents can outperform adults. To explain the current variability in results, sophisticated experimental designs are being applied to test learning in different contexts. There is also increasing recognition that individuals of different ages and in different states will draw on different neurocognitive systems to support goal-directed learning. Through adoption of more nuanced approaches, we can be better prepared to recognize and harness adolescent strengths and to decipher the purpose (or goals) of adolescence itself.

The successor representation subserves hierarchical abstraction for goal-directed behavior

Humans have the ability to craft abstract, temporally extended and hierarchically organized plans. For instance, when considering how to make spaghetti for dinner, we typically concern ourselves with useful "subgoals" in the task, such as cutting onions, boiling pasta, and cooking a sauce, rather than particulars such as how many cuts to make to the onion, or exactly which muscles to contract. A core question is how such decomposition of a more abstract task into logical subtasks happens in the first place. Previous research has shown that humans are sensitive to a form of higher-order statistical learning named "community structure". Community structure is a common feature of abstract tasks characterized by a logical ordering of subtasks. This structure can be captured by a model where humans learn predictions of upcoming events multiple steps into the future, discounting predictions of events further away in time. One such model is the "successor representation", which has been argued to be useful for hierarchical abstraction. As of yet, no study has convincingly shown that this hierarchical abstraction can be put to use for goal-directed behavior. Here, we investigate whether participants utilize learned community structure to craft hierarchically informed action plans for goal-directed behavior. Participants were asked to search for paintings in a virtual museum, where the paintings were grouped together in "wings" representing community structure in the museum. We find that participants' choices accord with the hierarchical structure of the museum and that their response times are best predicted by a successor representation. The degree to which the response times reflect the community structure of the museum correlates with several measures of performance, including the ability to craft temporally abstract action plans. These results suggest that successor representation learning subserves hierarchical abstractions relevant for goal-directed behavior.

An Information-Theoretic Account of Availability Effects in Language Production

I present a computational-level model of language production in terms of a combination of information theory and control theory in which words are chosen incrementally in order to maximize communicative value subject to an information-theoretic capacity constraint. The theory generally predicts a tradeoff between ease of production and communicative accuracy. I apply the theory to two cases of apparent availability effects in language production, in which words are selected on the basis of their accessibility to a speaker who has not yet perfectly planned the rest of the utterance. Using corpus data on English relative clause complementizer dropping and experimental data on Mandarin noun classifier choice, I show that the theory reproduces the observed phenomena, providing an alternative account to Uniform Information Density and a promising general model of language production which is tightly linked to emerging theories in computational neuroscience.

An information-theoretic approach to the typology of spatial demonstratives

We explore systems of spatial deictic words (such as 'here' and 'there') from the perspective of communicative efficiency using typological data from over 200 languages Nintemann et al. (2020). We argue from an information-theoretic perspective that spatial deictic systems balance informativity and complexity in the sense of the Information Bottleneck (Zaslavsky et al., (2018). We find that under an appropriate choice of cost function and need probability over meanings, among all the 21,146 theoretically possible spatial deictic systems, those adopted by real languages lie near an efficient frontier of informativity and complexity. Moreover, we find that the conditions that the need probability and the cost function need to satisfy for this result are consistent with the cognitive science literature on spatial cognition, especially regarding the source-goal asymmetry. We further show that the typological data are better explained by introducing a notion of consistency into the Information Bottleneck framework, which is jointly optimized along with informativity and complexity.

Information-theoretic principles in incremental language production

I apply a recently emerging perspective on the complexity of action selection, the rate-distortion theory of control, to provide a computational-level model of errors and difficulties in human language production, which is grounded in information theory and control theory. Language production is cast as the sequential selection of actions to achieve a communicative goal subject to a capacity constraint on cognitive control. In a series of calculations, simulations, corpus analyses, and comparisons to experimental data, I show that the model directly predicts some of the major known qualitative and quantitative phenomena in language production, including semantic interference and predictability effects in word choice; accessibility-based ("easy-first") production preferences in word order alternations; and the existence and distribution of disfluencies including filled pauses, corrections, and false starts. I connect the rate-distortion view to existing models of human language production, to probabilistic models of semantics and pragmatics, and to proposals for controlled language generation in the machine learning and reinforcement learning literature.

Active causal structure learning in continuous time

Research on causal cognition has largely focused on learning and reasoning about contingency data aggregated across discrete observations or experiments. However, this setting represents only the tip of the causal cognition iceberg. A more general problem lurking beneath is that of learning the latent causal structure that connects events and actions as they unfold in continuous time. In this paper, we examine how people actively learn about causal structure in a continuous-time setting, focusing on when and where they intervene and how this shapes their learning. Across two experiments, we find that participants' accuracy depends on both the informativeness and evidential complexity of the data they generate. Moreover, participants' intervention choices strike a balance between maximizing expected information and minimizing inferential complexity. People time and target their interventions to create simple yet informative causal dynamics. We discuss how the continuous-time setting challenges existing computational accounts of active causal learning, and argue that metacognitive awareness of one's inferential limitations plays a critical role for successful learning in the wild.

Undermatching Is a Consequence of Policy Compression

The matching law describes the tendency of agents to match the ratio of choices allocated to the ratio of rewards received when choosing among multiple options (Herrnstein, 1961). Perfect matching, however, is infrequently observed. Instead, agents tend to undermatch or bias choices toward the poorer option. Overmatching, or the tendency to bias choices toward the richer option, is rarely observed. Despite the ubiquity of undermatching, it has received an inadequate normative justification. Here, we assume agents not only seek to maximize reward, but also seek to minimize cognitive cost, which we formalize as policy complexity (the mutual information between actions and states of the environment). Policy complexity measures the extent to which the policy of an agent is state dependent. Our theory states that capacity-constrained agents (i.e., agents that must compress their policies to reduce complexity) can only undermatch or perfectly match, but not overmatch, consistent with the empirical evidence. Moreover, using mouse behavioral data (male), we validate a novel prediction about which task conditions exaggerate undermatching. Finally, in patients with Parkinson's disease (male and female), we argue that a reduction in undermatching with higher dopamine levels is consistent with an increased policy complexity.SIGNIFICANCE STATEMENT The matching law describes the tendency of agents to match the ratio of choices allocated to different options to the ratio of reward received. For example, if option a yields twice as much reward as option b, matching states that agents will choose option a twice as much. However, agents typically undermatch: they choose the poorer option more frequently than expected. Here, we assume that agents seek to simultaneously maximize reward and minimize the complexity of their action policies. We show that this theory explains when and why undermatching occurs. Neurally, we show that policy complexity, and by extension undermatching, is controlled by tonic dopamine, consistent with other evidence that dopamine plays an important role in cognitive resource allocation.

Skilled motor control of an inverted pendulum implies low entropy of states but high entropy of actions

The mastery of skills, such as balancing an inverted pendulum, implies a very accurate control of movements to achieve the task goals. Traditional accounts of skilled action control that focus on either routinization or perceptual control make opposite predictions about the ways we achieve mastery. The notion of routinization emphasizes the decrease of the variance of our actions, whereas the notion of perceptual control emphasizes the decrease of the variance of the states we visit, but not of the actions we execute. Here, we studied how participants managed control tasks of varying levels of difficulty, which consisted of controlling inverted pendulums of different lengths. We used information-theoretic measures to compare the predictions of alternative accounts that focus on routinization and perceptual control, respectively. Our results indicate that the successful performance of the control task strongly correlates with the decrease of state variability and the increase of action variability. As postulated by perceptual control theory, the mastery of skilled pendulum control consists in achieving stable control of goals by flexible means.

Humans account for cognitive costs when finding shortcuts: An information-theoretic analysis of navigation

When faced with navigating back somewhere we have been before we might either retrace our steps or seek a shorter path. Both choices have costs. Here, we ask whether it is possible to characterize formally the choice of navigational plans as a bounded rational process that trades off the quality of the plan (e.g., its length) and the cognitive cost required to find and implement it. We analyze the navigation strategies of two groups of people that are firstly trained to follow a "default policy" taking a route in a virtual maze and then asked to navigate to various known goal destinations, either in the way they want ("Go To Goal") or by taking novel shortcuts ("Take Shortcut"). We address these wayfinding problems using InfoRL: an information-theoretic approach that formalizes the cognitive cost of devising a navigational plan, as the informational cost to deviate from a well-learned route (the "default policy"). In InfoRL, optimality refers to finding the best trade-off between route length and the amount of control information required to find it. We report five main findings. First, the navigational strategies automatically identified by InfoRL correspond closely to different routes (optimal or suboptimal) in the virtual reality map, which were annotated by hand in previous research. Second, people deliberate more in places where the value of investing cognitive resources (i.e., relevant goal information) is greater. Third, compared to the group of people who receive the "Go To Goal" instruction, those who receive the "Take Shortcut" instruction find shorter but less optimal solutions, reflecting the intrinsic difficulty of finding optimal shortcuts. Fourth, those who receive the "Go To Goal" instruction modulate flexibly their cognitive resources, depending on the benefits of finding the shortcut. Finally, we found a surprising amount of variability in the choice of navigational strategies and resource investment across participants. Taken together, these results illustrate the benefits of using InfoRL to address navigational planning problems from a bounded rational perspective.

Mental control of uncertainty

Can you reduce uncertainty by thinking? Intuition suggests that this happens through the elusive process of attention: if we expend mental effort, we can increase the reliability of our sensory data. Models based on "rational inattention" formalize this idea in terms of a trade-off between the costs and benefits of attention. This paper surveys the origin of these models in economics, their connection to rate-distortion theory, and some of their recent applications to psychology and neuroscience. We also report new data from a numerosity judgment task in which we manipulate performance incentives. Consistent with rational inattention, people are able to improve performance on this task when incentivized, in part by increasing the reliability of their sensory data.

Mice exhibit stochastic and efficient action switching during probabilistic decision making

In probabilistic and nonstationary environments, individuals must use internal and external cues to flexibly make decisions that lead to desirable outcomes. To gain insight into the process by which animals choose between actions, we trained mice in a task with time-varying reward probabilities. In our implementation of such a two-armed bandit task, thirsty mice use information about recent action and action–outcome histories to choose between two ports that deliver water probabilistically. Here we comprehensively modeled choice behavior in this task, including the trial-to-trial changes in port selection, i.e., action switching behavior. We find that mouse behavior is, at times, deterministic and, at others, apparently stochastic. The behavior deviates from that of a theoretically optimal agent performing Bayesian inference in a hidden Markov model (HMM). We formulate a set of models based on logistic regression, reinforcement learning, and sticky Bayesian inference that we demonstrate are mathematically equivalent and that accurately describe mouse behavior. The switching behavior of mice in the task is captured in each model by a stochastic action policy, a history-dependent representation of action value, and a tendency to repeat actions despite incoming evidence. The models parsimoniously capture behavior across different environmental conditionals by varying the stickiness parameter, and like the mice, they achieve nearly maximal reward rates. These results indicate that mouse behavior reaches near-maximal performance with reduced action switching and can be described by a set of equivalent models with a small number of relatively fixed parameters.

Humans perseverate on punishment avoidance goals in multigoal reinforcement learning

Managing multiple goals is essential to adaptation, yet we are only beginning to understand computations by which we navigate the resource demands entailed in so doing. Here, we sought to elucidate how humans balance reward seeking and punishment avoidance goals, and relate this to variation in its expression within anxious individuals. To do so, we developed a novel multigoal pursuit task that includes trial-specific instructed goals to either pursue reward (without risk of punishment) or avoid punishment (without the opportunity for reward). We constructed a computational model of multigoal pursuit to quantify the degree to which participants could disengage from the pursuit goals when instructed to, as well as devote less model-based resources toward goals that were less abundant. In general, participants (n = 192) were less flexible in avoiding punishment than in pursuing reward. Thus, when instructed to pursue reward, participants often persisted in avoiding features that had previously been associated with punishment, even though at decision time these features were unambiguously benign. In a similar vein, participants showed no significant downregulation of avoidance when punishment avoidance goals were less abundant in the task. Importantly, we show preliminary evidence that individuals with chronic worry may have difficulty disengaging from punishment avoidance when instructed to seek reward. Taken together, the findings demonstrate that people avoid punishment less flexibly than they pursue reward. Future studies should test in larger samples whether a difficulty to disengage from punishment avoidance contributes to chronic worry.

The whole prefrontal cortex is premotor cortex

We propose that the entirety of the prefrontal cortex (PFC) can be seen as fundamentally premotor in nature. By this, we mean that the PFC consists of an action abstraction hierarchy whose core function is the potentiation and depotentiation of possible action plans at different levels of granularity. We argue that the apex of the hierarchy should revolve around the process of goal-selection, which we posit is inherently a form of optimization over action abstraction. Anatomical and functional evidence supports the idea that this hierarchy originates on the orbital surface of the brain and extends dorsally to motor cortex. Accordingly, our viewpoint positions the orbitofrontal cortex in a key role in the optimization of goal-selection policies, and suggests that its other proposed roles are aspects of this more general function. Our proposed perspective will reframe outstanding questions, open up new areas of inquiry and align theories of prefrontal function with evolutionary principles. This article is part of the theme issue 'Systems neuroscience through the lens of evolutionary theory'.