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Meeting of the minds

Anne Trafton |

In the summer of 2006, before their teenage years began, Mahdi Ramadan and Alexi Choueiri were spirited from their homes amid political unrest in Lebanon. Evacuated on short notice by the U.S. Marines, they were among 2,000 refugees transported to the U.S. on the aircraft carrier USS Nashville.

The two never met in their homeland, nor on the transatlantic journey, and after arriving in the U.S. they went their separate ways. Ramadan and his family moved to Seattle, Washington. Choueiri’s family settled in Chandler, Arizona, where they already had some extended family.

Yet their paths converged 11 years later as graduate students in MIT’s Department of Brain and Cognitive Sciences (BCS). One day last fall, on a walk across campus, Ramadan and Choueiri slowly unraveled their connection. With increasing excitement, they narrowed it down by year, by month, and eventually, by boat, to discover just how closely their lives had once come to one another.

Lebanon, the only Middle Eastern country without a desert, enjoys a lush, Mediterranean climate. Amid this natural beauty, though, the country struggles under the weight of deep political and cultural divides that sometimes erupt into conflict.

Despite different Lebanese cultural backgrounds — Ramadan’s family is Muslim and Choueiri’s Christian — they have had remarkably similar experiences as refugees from Lebanon. Both credit those experiences with motivating their interest in neuroscience. Questions about human behavior — How do people form beliefs about the world? Can those beliefs really change? — led them to graduate work at MIT.

In pursuit of knowledge

When they first immigrated to the U.S., school symbolized survival for Ramadan and Choueiri. Not only was education a mode of improving their lives and supporting their families, it was a search for objectivity in their recently upended worlds.

As the family’s primary English speaker, Ramadan became a bulwark for his family in their new country, especially in medical matters; his little sister, Ghida, has cerebral palsy. Though his family has limited financial resources, he emphasizes that both he and his sister have been constantly supported by their parents in pursuit of their educations.

In fact, Ramadan feels motivated by Ghida’s determination to complete her degree in occupational therapy: “That to me is really inspirational, her resilience in the face of her disability and in the face of assumptions that people make about capability. She’s really sassy, she’s really witty, she’s really funny, she’s really intelligent, and she doesn’t see her disability as a disability. She actually thinks it’s an advantage — it actually motivated her to pursue [her education] even more.”

Ramadan hopes his own educational journey, from a low-income evacuee to a neuroscience PhD, can show others like him that success is possible.

Choueiri also relied on academics to adapt to his new world in Arizona. Even in Lebanon, he remembers taking solace from a chaotic world in his education, and once in the U.S., he dove headfirst into his studies.

Choueiri’s hometown in Arizona sometimes felt homogenous, so coming to MIT has been a staggering — and welcome — experience. “The diversity here is phenomenal: meeting people from different cultures, upbringings, countries,” he says. “I love making friends from all over and learning their stories. Being a neuroscientist, I like to know how they were brought up and how their ideas were formed. … It’s like Disneyland for me. I feel like I’m coming to Disneyland every day and high-fiving Mickey Mouse.”

At home at MIT

Ramadan and Choueiri revel in the freedom of thought they have found in their academic home here. They say they feel taken seriously as students and, more importantly, as thinkers. The BCS department values interdisciplinary thought, and cultivates extracurricular student activities like philosophy discussion groups, the development of neuroscience podcasts, and independent, student-led lectures on myriad neuroscience-adjacent topics.

Both students were drawn to neuroscience not only by their experiences as Lebanese-Americans, but by trying to make sense of what happened to them at a young age.

Ramadan became interested in neuroplasticity through self-observation. “You know that feeling of childhood you have where everything is magical and you’re not really aware of things around you? I feel like when I immigrated to the U.S., that feeling went away and I had to become extra-aware of everything because I had to adapt so quickly. So, something that intrigued me about neuroscience is how the brain is able to adapt so quickly and how different experiences can shape and rewire your brain.”

Now in his second year, Ramadan plans to pursue his interest in neuroplasticity in Professor Mehrdad Jazayeri’s lab at the McGovern Institute by investigating how learning changes the brain’s underlying neural circuits; understanding the physical mechanism of plasticity has application to both disease states and artificial intelligence.

Choueiri, a third-year student in the program, is a member of Professor Ed Boyden’s lab at the McGovern Institute. While his interest in neuroscience was similarly driven by his experience as an evacuee, his approach is outward-looking, focused on making sense of people’s choices. Ultimately, the brain controls human ability to perceive, learn, and choose through physiological changes; Choueiri wants to understand not just the human brain, but also the human condition — and to use that understanding to alleviate pain and suffering.

“Growing up in Lebanon, with different religions and war … I became fundamentally interested in human behavior, irrationality, and conflict, and how can we resolve those things … and maybe there’s an objective way to really make sense of where these differences are coming from,” he says. In the Synthetic Neurobiology Group, Choueiri’s research involves developing neurotechnologies to map the molecular interactions of the brain, to reveal the fundamental mechanisms of brain function and repair dysfunction.

Shared identities

As evacuees, Ramadan and Choueiri left their country without notice and without saying goodbye. However, in other ways, their experience was not unlike an immigrant experience. This sometimes makes identifying as a refugee in the current political climate complex, as refugees from Syria and other war-ravaged regions struggle to make a home in the U.S. Still, both believe that sharing their personal experience may help others in difficult positions to see that they do belong in the U.S., and at MIT.

Despite their American identity, Ramadan and Choueiri also share a palpable love for Lebanese culture. They extol the diversity of Lebanese cuisine, which is served mezze-style, making meals an experience full of variety, grilled food, and yogurt dishes. The Lebanese diaspora is another source of great pride for them. Though the population of Lebanon is less than 5 million, as many as 14 million live abroad.

It’s all the more remarkable, then, that Ramadan and Choueiri intersected at MIT, some 6,000 miles from their homeland. The bond they have forged since, through their common heritage, experiences, and interests, is deeply meaningful to both of them.

“I was so happy to find another student who has this story because it allows me to reflect back on those experiences and how they changed me,” says Ramadan. “It’s like a mirror image. … Was it a coincidence, or were our lives so similar that they led to this point?”

This story was written by Bridget E. Begg at MIT’s Office of Graduate Education.

Study reveals how the brain overcomes its own limitations

Anne Trafton |

Imagine trying to write your name so that it can be read in a mirror. Your brain has all of the visual information you need, and you’re a pro at writing your own name. Still, this task is very difficult for most people. That’s because it requires the brain to perform a mental transformation that it’s not familiar with: using what it sees in the mirror to accurately guide your hand to write backward.

MIT neuroscientists have now discovered how the brain tries to compensate for its poor performance in tasks that require this kind of complicated transformation. As it also does in other types of situations where it has little confidence in its own judgments, the brain attempts to overcome its difficulties by relying on previous experiences.

“If you’re doing something that requires a harder mental transformation, and therefore creates more uncertainty and more variability, you rely on your prior beliefs and bias yourself toward what you know how to do well, in order to compensate for that variability,” says Mehrdad Jazayeri, the Robert A. Swanson Career Development Professor of Life Sciences, a member of MIT’s McGovern Institute for Brain Research, and the senior author of the study.

This strategy actually improves overall performance, the researchers report in their study, which appears in the Oct. 24 issue of the journal Nature Communications. Evan Remington, a McGovern Institute postdoc, is the paper’s lead author, and technical assistant Tiffany Parks is also an author on the paper.

Noisy computations

Neuroscientists have known for many decades that the brain does not faithfully reproduce exactly what the eyes see or what the ears hear. Instead, there is a great deal of “noise” — random fluctuations of electrical activity in the brain, which can come from uncertainty or ambiguity about what we are seeing or hearing. This uncertainty also comes into play in social interactions, as we try to interpret the motivations of other people, or when recalling memories of past events.

Previous research has revealed many strategies that help the brain to compensate for this uncertainty. Using a framework known as Bayesian integration, the brain combines multiple, potentially conflicting pieces of information and values them according to their reliability. For example, if given information by two sources, we’ll rely more on the one that we believe to be more credible.

In other cases, such as making movements when we’re uncertain exactly how to proceed, the brain will rely on an average of its past experiences. For example, when reaching for a light switch in a dark, unfamiliar room, we’ll move our hand toward a certain height and close to the doorframe, where past experience suggests a light switch might be located.

All of these strategies have been previously shown to work together to increase bias toward a particular outcome, which makes our overall performance better because it reduces variability, Jazayeri says.

Noise can also occur in the mental conversion of sensory information into a motor plan. In many cases, this is a straightforward task in which noise plays a minimal role — for example, reaching for a mug that you can see on your desk. However, for other tasks, such as the mirror-writing exercise, this conversion is much more complicated.

“Your performance will be variable, and it’s not because you don’t know where your hand is, and it’s not because you don’t know where the image is,” Jazayeri says. “It involves an entirely different form of uncertainty, which has to do with processing information. The act of performing mental transformations of information clearly induces variability.”

That type of mental conversion is what the researchers set out to explore in the new study. To do that, they asked subjects to perform three different tasks. For each one, they compared subjects’ performance in a version of the task where mapping sensory information to motor commands was easy, and a version where an extra mental transformation was required.

In one example, the researchers first asked participants to draw a line the same length as a line they were shown, which was always between 5 and 10 centimeters. In the more difficult version, they were asked to draw a line 1.5 times longer than the original line.

The results from this set of experiments, as well as the other two tasks, showed that in the version that required difficult mental transformations, people altered their performance using the same strategies that they use to overcome noise in sensory perception and other realms. For example, in the line-drawing task, in which the participants had to draw lines ranging from 7.5 to 15 centimeters, depending on the length of the original line, they tended to draw lines that were closer to the average length of all the lines they had previously drawn. This made their responses overall less variable and also more accurate.

“This regression to the mean is a very common strategy for making performance better when there is uncertainty,” Jazayeri says.

Noise reduction

The new findings led the researchers to hypothesize that when people get very good at a task that requires complex computation, the noise will become smaller and less detrimental to overall performance. That is, people will trust their computations more and stop relying on averages.

“As it gets easier, our prediction is the bias will go away, because that computation is no longer a noisy computation,” Jazayeri says. “You believe in the computation; you know the computation is working well.”

The researchers now plan to further study whether people’s biases decrease as they learn to perform a complicated task better. In the experiments they performed for the Nature Communications study, they found some preliminary evidence that trained musicians performed better in a task that involved producing time intervals of a specific duration.

The research was funded by the Alfred P. Sloan Foundation, the Esther A. and Joseph Klingenstein Fund, the Simons Foundation, the McKnight Endowment Fund for Neuroscience, and the McGovern Institute.

Monitoring electromagnetic signals in the brain with MRI

Anne Trafton |

Researchers commonly study brain function by monitoring two types of electromagnetism — electric fields and light. However, most methods for measuring these phenomena in the brain are very invasive.

MIT engineers have now devised a new technique to detect either electrical activity or optical signals in the brain using a minimally invasive sensor for magnetic resonance imaging (MRI).

MRI is often used to measure changes in blood flow that indirectly represent brain activity, but the MIT team has devised a new type of MRI sensor that can detect tiny electrical currents, as well as light produced by luminescent proteins. (Electrical impulses arise from the brain’s internal communications, and optical signals can be produced by a variety of molecules developed by chemists and bioengineers.)

“MRI offers a way to sense things from the outside of the body in a minimally invasive fashion,” says Aviad Hai, an MIT postdoc and the lead author of the study. “It does not require a wired connection into the brain. We can implant the sensor and just leave it there.”

This kind of sensor could give neuroscientists a spatially accurate way to pinpoint electrical activity in the brain. It can also be used to measure light, and could be adapted to measure chemicals such as glucose, the researchers say.

Alan Jasanoff, an MIT professor of biological engineering, brain and cognitive sciences, and nuclear science and engineering, and an associate member of MIT’s McGovern Institute for Brain Research, is the senior author of the paper, which appears in the Oct. 22 issue of Nature Biomedical Engineering. Postdocs Virginia Spanoudaki and Benjamin Bartelle are also authors of the paper.

Detecting electric fields

Jasanoff’s lab has previously developed MRI sensors that can detect calcium and neurotransmitters such as serotonin and dopamine. In this paper, they wanted to expand their approach to detecting biophysical phenomena such as electricity and light. Currently, the most accurate way to monitor electrical activity in the brain is by inserting an electrode, which is very invasive and can cause tissue damage. Electroencephalography (EEG) is a noninvasive way to measure electrical activity in the brain, but this method cannot pinpoint the origin of the activity.

To create a sensor that could detect electromagnetic fields with spatial precision, the researchers realized they could use an electronic device — specifically, a tiny radio antenna.

MRI works by detecting radio waves emitted by the nuclei of hydrogen atoms in water. These signals are usually detected by a large radio antenna within an MRI scanner. For this study, the MIT team shrank the radio antenna down to just a few millimeters in size so that it could be implanted directly into the brain to receive the radio waves generated by water in the brain tissue.

The sensor is initially tuned to the same frequency as the radio waves emitted by the hydrogen atoms. When the sensor picks up an electromagnetic signal from the tissue, its tuning changes and the sensor no longer matches the frequency of the hydrogen atoms. When this happens, a weaker image arises when the sensor is scanned by an external MRI machine.

The researchers demonstrated that the sensors can pick up electrical signals similar to those produced by action potentials (the electrical impulses fired by single neurons), or local field potentials (the sum of electrical currents produced by a group of neurons).

“We showed that these devices are sensitive to biological-scale potentials, on the order of millivolts, which are comparable to what biological tissue generates, especially in the brain,” Jasanoff says.

The researchers performed additional tests in rats to study whether the sensors could pick up signals in living brain tissue. For those experiments, they designed the sensors to detect light emitted by cells engineered to express the protein luciferase.

Normally, luciferase’s exact location cannot be determined when it is deep within the brain or other tissues, so the new sensor offers a way to expand the usefulness of luciferase and more precisely pinpoint the cells that are emitting light, the researchers say. Luciferase is commonly engineered into cells along with another gene of interest, allowing researchers to determine whether the genes have been successfully incorporated by measuring the light produced.

Smaller sensors

One major advantage of this sensor is that it does not need to carry any kind of power supply, because the radio signals that the external MRI scanner emits are enough to power the sensor.

Hai, who will be joining the faculty at the University of Wisconsin at Madison in January, plans to further miniaturize the sensors so that more of them can be injected, enabling the imaging of light or electrical fields over a larger brain area. In this paper, the researchers performed modeling that showed that a 250-micron sensor (a few tenths of a millimeter) should be able to detect electrical activity on the order of 100 millivolts, similar to the amount of current in a neural action potential.

Jasanoff’s lab is interested in using this type of sensor to detect neural signals in the brain, and they envision that it could also be used to monitor electromagnetic phenomena elsewhere in the body, including muscle contractions or cardiac activity.

“If the sensors were on the order of hundreds of microns, which is what the modeling suggests is in the future for this technology, then you could imagine taking a syringe and distributing a whole bunch of them and just leaving them there,” Jasanoff says. “What this would do is provide many local readouts by having sensors distributed all over the tissue.”

The research was funded by the National Institutes of Health.

Electrical properties of dendrites help explain our brain’s unique computing power

Anne Trafton |

Neurons in the human brain receive electrical signals from thousands of other cells, and long neural extensions called dendrites play a critical role in incorporating all of that information so the cells can respond appropriately.

Using hard-to-obtain samples of human brain tissue, MIT neuroscientists have now discovered that human dendrites have different electrical properties from those of other species. Their studies reveal that electrical signals weaken more as they flow along human dendrites, resulting in a higher degree of electrical compartmentalization, meaning that small sections of dendrites can behave independently from the rest of the neuron.

These differences may contribute to the enhanced computing power of the human brain, the researchers say.

“It’s not just that humans are smart because we have more neurons and a larger cortex. From the bottom up, neurons behave differently,” says Mark Harnett, the Fred and Carole Middleton Career Development Assistant Professor of Brain and Cognitive Sciences. “In human neurons, there is more electrical compartmentalization, and that allows these units to be a little bit more independent, potentially leading to increased computational capabilities of single neurons.”

Harnett, who is also a member of MIT’s McGovern Institute for Brain Research, and Sydney Cash, an assistant professor of neurology at Harvard Medical School and Massachusetts General Hospital, are the senior authors of the study, which appears in the Oct. 18 issue of Cell. The paper’s lead author is Lou Beaulieu-Laroche, a graduate student in MIT’s Department of Brain and Cognitive Sciences.

Neural computation

Dendrites can be thought of as analogous to transistors in a computer, performing simple operations using electrical signals. Dendrites receive input from many other neurons and carry those signals to the cell body. If stimulated enough, a neuron fires an action potential — an electrical impulse that then stimulates other neurons. Large networks of these neurons communicate with each other to generate thoughts and behavior.

The structure of a single neuron often resembles a tree, with many branches bringing in information that arrives far from the cell body. Previous research has found that the strength of electrical signals arriving at the cell body depends, in part, on how far they travel along the dendrite to get there. As the signals propagate, they become weaker, so a signal that arrives far from the cell body has less of an impact than one that arrives near the cell body.

Dendrites in the cortex of the human brain are much longer than those in rats and most other species, because the human cortex has evolved to be much thicker than that of other species. In humans, the cortex makes up about 75 percent of the total brain volume, compared to about 30 percent in the rat brain.

Although the human cortex is two to three times thicker than that of rats, it maintains the same overall organization, consisting of six distinctive layers of neurons. Neurons from layer 5 have dendrites long enough to reach all the way to layer 1, meaning that human dendrites have had to elongate as the human brain has evolved, and electrical signals have to travel that much farther.

In the new study, the MIT team wanted to investigate how these length differences might affect dendrites’ electrical properties. They were able to compare electrical activity in rat and human dendrites, using small pieces of brain tissue removed from epilepsy patients undergoing surgical removal of part of the temporal lobe. In order to reach the diseased part of the brain, surgeons also have to take out a small chunk of the anterior temporal lobe.

With the help of MGH collaborators Cash, Matthew Frosch, Ziv Williams, and Emad Eskandar, Harnett’s lab was able to obtain samples of the anterior temporal lobe, each about the size of a fingernail.

Evidence suggests that the anterior temporal lobe is not affected by epilepsy, and the tissue appears normal when examined with neuropathological techniques, Harnett says. This part of the brain appears to be involved in a variety of functions, including language and visual processing, but is not critical to any one function; patients are able to function normally after it is removed.

Once the tissue was removed, the researchers placed it in a solution very similar to cerebrospinal fluid, with oxygen flowing through it. This allowed them to keep the tissue alive for up to 48 hours. During that time, they used a technique known as patch-clamp electrophysiology to measure how electrical signals travel along dendrites of pyramidal neurons, which are the most common type of excitatory neurons in the cortex.

These experiments were performed primarily by Beaulieu-Laroche. Harnett’s lab (and others) have previously done this kind of experiment in rodent dendrites, but his team is the first to analyze electrical properties of human dendrites.

Unique features

The researchers found that because human dendrites cover longer distances, a signal flowing along a human dendrite from layer 1 to the cell body in layer 5 is much weaker when it arrives than a signal flowing along a rat dendrite from layer 1 to layer 5.

They also showed that human and rat dendrites have the same number of ion channels, which regulate the current flow, but these channels occur at a lower density in human dendrites as a result of the dendrite elongation. They also developed a detailed biophysical model that shows that this density change can account for some of the differences in electrical activity seen between human and rat dendrites, Harnett says.

Nelson Spruston, senior director of scientific programs at the Howard Hughes Medical Institute Janelia Research Campus, described the researchers’ analysis of human dendrites as “a remarkable accomplishment.”

“These are the most carefully detailed measurements to date of the physiological properties of human neurons,” says Spruston, who was not involved in the research. “These kinds of experiments are very technically demanding, even in mice and rats, so from a technical perspective, it’s pretty amazing that they’ve done this in humans.”

The question remains, how do these differences affect human brainpower? Harnett’s hypothesis is that because of these differences, which allow more regions of a dendrite to influence the strength of an incoming signal, individual neurons can perform more complex computations on the information.

“If you have a cortical column that has a chunk of human or rodent cortex, you’re going to be able to accomplish more computations faster with the human architecture versus the rodent architecture,” he says.

There are many other differences between human neurons and those of other species, Harnett adds, making it difficult to tease out the effects of dendritic electrical properties. In future studies, he hopes to explore further the precise impact of these electrical properties, and how they interact with other unique features of human neurons to produce more computing power.

The research was funded by the National Sciences and Engineering Research Council of Canada, the Dana Foundation David Mahoney Neuroimaging Grant Program, and the National Institutes of Health.

Mark Harnett’s “Holy Grail” experiment

by Julie Pryor |

Neurons in the human brain receive electrical signals from thousands of other cells, and long neural extensions called dendrites play a critical role in incorporating all of that information so the cells can respond appropriately.

Using hard-to-obtain samples of human brain tissue, McGovern neuroscientist Mark Harnett has now discovered that human dendrites have different electrical properties from those of other species. Their studies reveal that electrical signals weaken more as they flow along human dendrites, resulting in a higher degree of electrical compartmentalization, meaning that small sections of dendrites can behave independently from the rest of the neuron.

These differences may contribute to the enhanced computing power of the human brain, the researchers say.

Fujitsu Laboratories and MIT’s Center for Brains, Minds and Machines broaden partnership

by Julie Pryor |

Fujitsu Laboratories Ltd. and MIT’s Center for Brains, Minds and Machines (CBMM) has announced a multi-year philanthropic partnership focused on advancing the science and engineering of intelligence while supporting the next generation of researchers in this emerging field. The new commitment follows on several years of collaborative research among scientists at the two organizations.

Founded in 1968, Fujitsu Laboratories has conducted a wide range of basic and applied research in the areas of next-generation services, computer servers, networks, electronic devices, and advanced materials. CBMM, a multi-institutional, National Science Foundation funded science and technology center focusing on the interdisciplinary study of intelligence, was established in 2013 and is headquartered at MIT’s McGovern Institute for Brain Research. CBMM is also the foundation of “The Core” of the MIT Quest for Intelligence launched earlier this year. The partnership between the two organizations started in March 2017 when Fujitsu Laboratories sent a visiting scientist to CBMM.

“A fundamental understanding of how humans think, feel, and make decisions is critical to developing revolutionary technologies that will have a real impact on societal problems,” said Shigeru Sasaki, CEO of Fujitsu Laboratories. “The partnership between MIT’s Center for Brains, Minds and Machines and Fujitsu Laboratories will help advance critical R&D efforts in both human intelligence and the creation of next-generation technologies that will shape our lives,” he added.

The new Fujitsu Laboratories Co-Creation Research Fund, established with a philanthropic gift from Fujitsu Laboratories, will fuel new, innovative and challenging projects in areas of interest to both Fujitsu and CBMM, including the basic study of computations underlying visual recognition and language processing, creation of new machine learning methods, and development of the theory of deep learning. Alongside funding for research projects, Fujitsu Laboratories will also fund fellowships for graduate students attending CBMM’s summer course from 2019 to contribute to the future of research and society on a long term basis. The intensive three-week course gives advanced students from universities worldwide a “deep end” introduction to the problem of intelligence. These students will later have the opportunity to travel to Fujitsu Laboratories in Japan or its overseas locations in the U.S., Canada, U.K., Spain, and China to meet with Fujitsu researchers.

“CBMM faculty, students, and fellows are excited for the opportunity to work alongside scientists from Fujitsu to make advances in complex problems of intelligence, both real and artificial,” said CBMM’s director Tomaso Poggio, who is also an investigator at the McGovern Institute and the Eugene McDermott Professor in MIT’s Department of Brain and Cognitive Sciences. “Both Fujitsu Laboratories and MIT are committed to creating revolutionary tools and systems that will transform many industries, and to do that we are first looking to the extraordinary computations made by the human mind in everyday life.”

As part of the partnership, Poggio will be a featured keynote speaker at the Fujitsu Laboratories Advanced Technology Symposium on Oct. 9. In addition, Tomotake Sasaki, a former visiting scientist and current research affiliate in the Poggio Lab, will continue to collaborate with CBMM scientists and engineers on reinforcement learning and deep learning research projects. Moyuru Yamada, a visiting scientist in the Lab of Professor Josh Tenenbaum, is also studying the computational model of human cognition and exploring its industrial applications. Moreover, Fujitsu Laboratories is planning to invite CBMM researchers to Japan or overseas offices and arrange internships for interested students.

Model helps robots navigate more like humans do

by Rob Matheson |

When moving through a crowd to reach some end goal, humans can usually navigate the space safely without thinking too much. They can learn from the behavior of others and note any obstacles to avoid. Robots, on the other hand, struggle with such navigational concepts.

MIT researchers have now devised a way to help robots navigate environments more like humans do. Their novel motion-planning model lets robots determine how to reach a goal by exploring the environment, observing other agents, and exploiting what they’ve learned before in similar situations. A paper describing the model was presented at this week’s IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Popular motion-planning algorithms will create a tree of possible decisions that branches out until it finds good paths for navigation. A robot that needs to navigate a room to reach a door, for instance, will create a step-by-step search tree of possible movements and then execute the best path to the door, considering various constraints. One drawback, however, is these algorithms rarely learn: Robots can’t leverage information about how they or other agents acted previously in similar environments.

“Just like when playing chess, these decisions branch out until [the robots] find a good way to navigate. But unlike chess players, [the robots] explore what the future looks like without learning much about their environment and other agents,” says co-author Andrei Barbu, a researcher at MIT’s Computer Science and Artificial Intelligence Laboratory (CSAIL) and the Center for Brains, Minds, and Machines (CBMM) within MIT’s McGovern Institute. “The thousandth time they go through the same crowd is as complicated as the first time. They’re always exploring, rarely observing, and never using what’s happened in the past.”

The researchers developed a model that combines a planning algorithm with a neural network that learns to recognize paths that could lead to the best outcome, and uses that knowledge to guide the robot’s movement in an environment.

In their paper, “Deep sequential models for sampling-based planning,” the researchers demonstrate the advantages of their model in two settings: navigating through challenging rooms with traps and narrow passages, and navigating areas while avoiding collisions with other agents. A promising real-world application is helping autonomous cars navigate intersections, where they have to quickly evaluate what others will do before merging into traffic. The researchers are currently pursuing such applications through the Toyota-CSAIL Joint Research Center.

“When humans interact with the world, we see an object we’ve interacted with before, or are in some location we’ve been to before, so we know how we’re going to act,” says Yen-Ling Kuo, a PhD student in CSAIL and first author on the paper. “The idea behind this work is to add to the search space a machine-learning model that knows from past experience how to make planning more efficient.”

Boris Katz, a principal research scientist and head of the InfoLab Group at CSAIL, is also a co-author on the paper.

Trading off exploration and exploitation

Traditional motion planners explore an environment by rapidly expanding a tree of decisions that eventually blankets an entire space. The robot then looks at the tree to find a way to reach the goal, such as a door. The researchers’ model, however, offers “a tradeoff between exploring the world and exploiting past knowledge,” Kuo says.

The learning process starts with a few examples. A robot using the model is trained on a few ways to navigate similar environments. The neural network learns what makes these examples succeed by interpreting the environment around the robot, such as the shape of the walls, the actions of other agents, and features of the goals. In short, the model “learns that when you’re stuck in an environment, and you see a doorway, it’s probably a good idea to go through the door to get out,” Barbu says.

The model combines the exploration behavior from earlier methods with this learned information. The underlying planner, called RRT*, was developed by MIT professors Sertac Karaman and Emilio Frazzoli. (It’s a variant of a widely used motion-planning algorithm known as Rapidly-exploring Random Trees, or  RRT.) The planner creates a search tree while the neural network mirrors each step and makes probabilistic predictions about where the robot should go next. When the network makes a prediction with high confidence, based on learned information, it guides the robot on a new path. If the network doesn’t have high confidence, it lets the robot explore the environment instead, like a traditional planner.

For example, the researchers demonstrated the model in a simulation known as a “bug trap,” where a 2-D robot must escape from an inner chamber through a central narrow channel and reach a location in a surrounding larger room. Blind allies on either side of the channel can get robots stuck. In this simulation, the robot was trained on a few examples of how to escape different bug traps. When faced with a new trap, it recognizes features of the trap, escapes, and continues to search for its goal in the larger room. The neural network helps the robot find the exit to the trap, identify the dead ends, and gives the robot a sense of its surroundings so it can quickly find the goal.

Results in the paper are based on the chances that a path is found after some time, total length of the path that reached a given goal, and how consistent the paths were. In both simulations, the researchers’ model more quickly plotted far shorter and consistent paths than a traditional planner.

“This model is interesting because it allows a motion planner to adapt to what it sees in the environment,” says Stephanie Tellex, an assistant professor of computer science at Brown University, who was not involved in the research. “This can enable dramatic improvements in planning speed by customizing the planner to what the robot knows. Most planners don’t adapt to the environment at all. Being able to traverse long, narrow passages is notoriously difficult for a conventional planner, but they can solve it. We need more ways that bridge this gap.”

Working with multiple agents

In one other experiment, the researchers trained and tested the model in navigating environments with multiple moving agents, which is a useful test for autonomous cars, especially navigating intersections and roundabouts. In the simulation, several agents are circling an obstacle. A robot agent must successfully navigate around the other agents, avoid collisions, and reach a goal location, such as an exit on a roundabout.

“Situations like roundabouts are hard, because they require reasoning about how others will respond to your actions, how you will then respond to theirs, what they will do next, and so on,” Barbu says. “You eventually discover your first action was wrong, because later on it will lead to a likely accident. This problem gets exponentially worse the more cars you have to contend with.”

Results indicate that the researchers’ model can capture enough information about the future behavior of the other agents (cars) to cut off the process early, while still making good decisions in navigation. This makes planning more efficient. Moreover, they only needed to train the model on a few examples of roundabouts with only a few cars. “The plans the robots make take into account what the other cars are going to do, as any human would,” Barbu says.

Going through intersections or roundabouts is one of the most challenging scenarios facing autonomous cars. This work might one day let cars learn how humans behave and how to adapt to drivers in different environments, according to the researchers. This is the focus of the Toyota-CSAIL Joint Research Center work.

“Not everybody behaves the same way, but people are very stereotypical. There are people who are shy, people who are aggressive. The model recognizes that quickly and that’s why it can plan efficiently,” Barbu says.

More recently, the researchers have been applying this work to robots with manipulators that face similarly daunting challenges when reaching for objects in ever-changing environments.

Recognizing the partially seen

by Kris Brewer |

When we open our eyes in the morning and take in that first scene of the day, we don’t give much thought to the fact that our brain is processing the objects within our field of view with great efficiency and that it is compensating for a lack of information about our surroundings — all in order to allow us to go about our daily functions. The glass of water you left on the nightstand when preparing for bed is now partially blocked from your line of sight by your alarm clock, yet you know that it is a glass.

This seemingly simple ability for humans to recognize partially occluded objects — defined in this situation as the effect of one object in a 3-D space blocking another object from view — has been a complicated problem for the computer vision community. Martin Schrimpf, a graduate student in the DiCarlo lab in the Department of Brain and Cognitive Sciences at MIT, explains that machines have become increasingly adept at recognizing whole items quickly and confidently, but when something covers part of that item from view, this task becomes increasingly difficult for the models to accurately recognize the article.

“For models from computer vision to function in everyday life, they need to be able to digest occluded objects just as well as whole ones — after all, when you look around, most objects are partially hidden behind another object,” says Schrimpf, co-author of a paper on the subject that was recently published in the Proceedings of the National Academy of Sciences (PNAS).

In the new study, he says, “we dug into the underlying computations in the brain and then used our findings to build computational models. By recapitulating visual processing in the human brain, we are thus hoping to also improve models in computer vision.”

How are we as humans able to repeatedly do this everyday task without putting much thought and energy into this action, identifying whole scenes quickly and accurately after injesting just pieces? Researchers in the study started with the human visual cortex as a model for how to improve the performance of machines in this setting, says Gabriel Kreiman, an affiliate of the MIT Center for Brains, Minds, and Machines. Kreinman is a professor of ophthalmology at Boston Children’s Hospital and Harvard Medical School and was lead principal investigator for the study.

In their paper, “Recurrent computations for visual pattern completion,” the team showed how they developed a computational model, inspired by physiological and anatomical constraints, that was able to capture the behavioral and neurophysiological observations during pattern completion. In the end, the model provided useful insights towards understanding how to make inferences from minimal information.

Work for this study was conducted at the Center for Brains, Minds and Machines within the McGovern Institute for Brain Research at MIT.

School of Science welcomes 10 professors

by School of Science |

The MIT School of Science recently welcomed 10 new professors, including Ila Fiete in the departments of Brain and Cognitive Sciences, Chemistry, Biology, Physics, Mathematics, and Earth, Atmospheric and Planetary Sciences.

Ila Fiete uses computational and theoretical tools to better understand the dynamical mechanisms and coding strategies that underlie computation in the brain, with a focus on elucidating how plasticity and development shape networks to perform computation and why information is encoded the way that it is. Her recent focus is on error control in neural codes, rules for synaptic plasticity that enable neural circuit organization, and questions at the nexus of information and dynamics in neural systems, such as understand how coding and statistics fundamentally constrain dynamics and vice-versa.

Tristan Collins conducts research at the intersection of geometric analysis, partial differential equations, and algebraic geometry. In joint work with Valentino Tosatti, Collins described the singularity formation of the Ricci flow on Kahler manifolds in terms of algebraic data. In recent work with Gabor Szekelyhidi, he gave a necessary and sufficient algebraic condition for existence of Ricci-flat metrics, which play an important role in string theory and mathematical physics. This result lead to the discovery of infinitely many new Einstein metrics on the 5-dimensional sphere. With Shing-Tung Yau and Adam Jacob, Collins is currently studying the relationship between categorical stability conditions and existence of solutions to differential equations arising from mirror symmetry.

Collins earned his BS in mathematics at the University of British Columbia in 2009, after which he completed his PhD in mathematics at Columbia University in 2014 under the direction of Duong H. Phong. Following a four-year appointment as a Benjamin Peirce Assistant Professor at Harvard University, Collins joins MIT as an assistant professor in the Department of Mathematics.

Julien de Wit develops and applies new techniques to study exoplanets, their atmospheres, and their interactions with their stars. While a graduate student in the Sara Seager group at MIT, he developed innovative analysis techniques to map exoplanet atmospheres, studied the radiative and tidal planet-star interactions in eccentric planetary systems, and constrained the atmospheric properties and mass of exoplanets solely from transmission spectroscopy. He plays a critical role in the TRAPPIST/SPECULOOS project, headed by Université of Liège, leading the atmospheric characterization of the newly discovered TRAPPIST-1 planets, for which he has already obtained significant results with the Hubble Space Telescope. De Wit’s efforts are now also focused on expanding the SPECULOOS network of telescopes in the northern hemisphere to continue the search for new potentially habitable TRAPPIST-1-like systems.

De Wit earned a BEng in physics and mechanics from the Université de Liège in Belgium in 2008, an MS in aeronautic engineering and an MRes in astrophysics, planetology, and space sciences from the Institut Supérieur de l’Aéronautique et de l’Espace at the Université de Toulouse, France in 2010; he returned to the Université de Liège for an MS in aerospace engineering, completed in 2011. After finishing his PhD in planetary sciences in 2014 and a postdoc at MIT, both under the direction of Sara Seager, he joins the MIT faculty in the Department of Earth, Atmospheric and Planetary Sciences as an assistant professor.

After earning a BS in mathematics and physics at the University of Michigan, Fiete obtained her PhD in 2004 at Harvard University in the Department of Physics. While holding an appointment at the Kavli Institute for Theoretical Physics at the University of California, Santa Barbara from 2004 to 2006, she was also a visiting member of the Center for Theoretical Biophysics at the University of California at San Diego. Fiete subsequently spent two years at Caltech as a Broad Fellow in brain circuitry, and in 2008 joined the faculty of the University of Texas at Austin. She joins the MIT faculty in the Department of Brain and Cognitive Sciences as an associate professor with tenure.

Ankur Jain explores the biology of RNA aggregation. Several genetic neuromuscular disorders, such as myotonic dystrophy and amyotrophic lateral sclerosis, are caused by expansions of nucleotide repeats in their cognate disease genes. Such repeats cause the transcribed RNA to form pathogenic clumps or aggregates. Jain uses a variety of biophysical approaches to understand how the RNA aggregates form, and how they can be disrupted to restore normal cell function. Jain will also study the role of RNA-DNA interactions in chromatin organization, investigating whether the RNA transcribed from telomeres (the protective repetitive sequences that cap the ends of chromosomes) undergoes the phase separation that characterizes repeat expansion diseases.

Jain completed a bachelor’s of technology degree in biotechnology and biochemical engineering at the Indian Institute of Technology Kharagpur, India in 2007, followed by a PhD in biophysics and computational biology at the University of Illinois at Urbana-Champaign under the direction of Taekjip Ha in 2013. After a postdoc at the University of California at San Francisco, he joins the MIT faculty in the Department of Biology as an assistant professor with an appointment as a member of the Whitehead Institute for Biomedical Research.

Kiyoshi Masui works to understand fundamental physics and the evolution of the universe through observations of the large-scale structure — the distribution of matter on scales much larger than galaxies. He works principally with radio-wavelength surveys to develop new observational methods such as hydrogen intensity mapping and fast radio bursts. Masui has shown that such observations will ultimately permit precise measurements of properties of the early and late universe and enable sensitive searches for primordial gravitational waves. To this end, he is working with a new generation of rapid-survey digital radio telescopes that have no moving parts and rely on signal processing software running on large computer clusters to focus and steer, including work on the Canadian Hydrogen Intensity Mapping Experiment (CHIME).

Masui obtained a BSCE in engineering physics at Queen’s University, Canada in 2008 and a PhD in physics at the University of Toronto in 2013 under the direction of Ue-Li Pen. After postdoctoral appointments at the University of British Columbia as the Canadian Institute for Advanced Research Global Scholar and the Canadian Institute for Theoretical Astrophysics National Fellow, Masui joins the MIT faculty in the Department of Physics as an assistant professor.

Phiala Shanahan studies theoretical nuclear and particle physics, in particular the structure and interactions of hadrons and nuclei from the fundamental (quark and gluon) degrees of freedom encoded in the Standard Model of particle physics. Shanahan’s recent work has focused on the role of gluons, the force carriers of the strong interactions described by quantum chromodynamics (QCD), in hadron and nuclear structure by using analytic tools and high-performance supercomputing. She recently achieved the first calculation of the gluon structure of light nuclei, making predictions that will be testable in new experiments proposed at Jefferson National Accelerator Facility and at the planned Electron-Ion Collider. She has also undertaken extensive studies of the role of strange quarks in the proton and light nuclei that sharpen theory predictions for dark matter cross-sections in direct detection experiments. To overcome computational limitations in QCD calculations for hadrons and in particular for nuclei, Shanahan is pursuing a program to integrate modern machine learning techniques in computational nuclear physics studies.

Shanahan obtained her BS in 2012 and her PhD in 2015, both in physics, from the University of Adelaide. She completed postdoctoral work at MIT in 2017, then held a joint position as an assistant professor at the College of William and Mary and senior staff scientist at the Thomas Jefferson National Accelerator Facility until 2018. She returns to MIT in the Department of Physics as an assistant professor.

Nike Sun works in probability theory at the interface of statistical physics and computation. Her research focuses in particular on phase transitions in average-case (randomized) formulations of classical computational problems. Her joint work with Jian Ding and Allan Sly establishes the satisfiability threshold of random k-SAT for large k, and relatedly the independence ratio of random regular graphs of large degree. Both are long-standing open problems where heuristic methods of statistical physics yield detailed conjectures, but few rigorous techniques exist. More recently she has been investigating phase transitions of dense graph models.

Sun completed BA mathematics and MA statistics degrees at Harvard in 2009, and an MASt in mathematics at Cambridge in 2010. She received her PhD in statistics from Stanford University in 2014 under the supervision of Amir Dembo. She held a Schramm fellowship at Microsoft New England and MIT Mathematics in 2014-2015 and a Simons postdoctoral fellowship at the University of California at Berkeley in 2016, and joined the Berkeley Department of Statistics as an assistant professor in 2016. She returns to the MIT Department of Mathematics as an associate professor with tenure.

Alison Wendlandt focuses on the development of selective, catalytic reactions using the tools of organic and organometallic synthesis and physical organic chemistry. Mechanistic study plays a central role in the development of these new transformations. Her projects involve the design of new catalysts and catalytic transformations, identification of important applications for selective catalytic processes, and elucidation of new mechanistic principles to expand powerful existing catalytic reaction manifolds.

Wendlandt received a BS in chemistry and biological chemistry from the University of Chicago in 2007, an MS in chemistry from Yale University in 2009, and a PhD in chemistry from the University of Wisconsin at Madison in 2015 under the direction of Shannon S. Stahl. Following an NIH Ruth L. Krichstein Postdoctoral Fellowship at Harvard University, Wendlandt joins the MIT faculty in the Department of Chemistry as an assistant professor.

Chenyang Xu specializes in higher-dimensional algebraic geometry, an area that involves classifying algebraic varieties, primarily through the minimal model program (MMP). MMP was introduced by Fields Medalist S. Mori in the early 1980s to make advances in higher dimensional birational geometry. The MMP was further developed by Hacon and McKernan in the mid-2000s, so that the MMP could be applied to other questions. Collaborating with Hacon, Xu expanded the MMP to varieties of certain conditions, such as those of characteristic p, and, with Hacon and McKernan, proved a fundamental conjecture on the MMP, generating a great deal of follow-up activity. In collaboration with Chi Li, Xu proved a conjecture of Gang Tian concerning higher-dimensional Fano varieties, a significant achievement. In a series of papers with different collaborators, he successfully applied MMP to singularities.

Xu received his BS in 2002 and MS in 2004 in mathematics from Peking University, and completed his PhD at Princeton University under János Kollár in 2008. He came to MIT as a CLE Moore Instructor in 2008-2011, and was subsequently appointed assistant professor at the University of Utah. He returned to Peking University as a research fellow at the Beijing International Center of Mathematical Research in 2012, and was promoted to professor in 2013. Xu joins the MIT faculty as a full professor in the Department of Mathematics.

Zhiwei Yun’s research is at the crossroads between algebraic geometry, number theory, and representation theory. He studies geometric structures aiming at solving problems in representation theory and number theory, especially those in the Langlands program. While he was a CLE Moore Instructor at MIT, he started to develop the theory of rigid automorphic forms, and used it to answer an open question of J-P Serre on motives, which also led to a major result on the inverse Galois problem in number theory. More recently, in his joint work with Wei Zhang, they give geometric interpretation of higher derivatives of automorphic L- functions in terms of intersection numbers, which sheds new light on the geometric analogue of the Birch and Swinnerton-Dyer conjecture.

Yun earned his BS at Peking University in 2004, after which he completed his PhD at Princeton University in 2009 under the direction of Robert MacPherson. After appointments at the Institute for Advanced Study and as a CLE Moore Instructor at MIT, he held faculty appointments at Stanford and Yale. He returned to the MIT Department of Mathematics as a full professor in the spring of 2018.

Feng Zhang wins 2018 Keio Medical Science Prize

Anne Trafton |

Molecular biologist Feng Zhang has been named a winner of the prestigious Keio Medical Science Prize. He is being recognized for the groundbreaking development of CRISPR-Cas9-mediated genome engineering in cells and its application for medical science.

Zhang is the James and Patricia Poitras Professor of Neuroscience at MIT, an associate professor in the departments of Brain and Cognitive Sciences and Biological Engineering, a Howard Hughes Medical Institute investigator, an investigator at the McGovern Institute for Brain Research, and a core member of the Broad Institute of MIT and Harvard.

“We are delighted that Feng is now a Keio Prize laureate,” says McGovern Institute Director Robert Desimone. “This truly recognizes the remarkable achievements that he has made at such a young age.”

Zhang is a molecular biologist who has contributed to the development of multiple molecular tools to accelerate the understanding of human disease and create new therapeutic modalities. During his graduate work, Zhang contributed to the development of optogenetics, a system for activating neurons using light, which has advanced our understanding of brain connectivity.

Zhang went on to pioneer the deployment of the microbial CRISPR-Cas9 system for genome engineering in eukaryotic cells. The ease and specificity of the system has led to its widespread use across the life sciences and it has groundbreaking implications for disease therapeutics, biotechnology, and agriculture. He has continued to mine bacterial CRISPR systems for additional enzymes with useful properties, leading to the discovery of Cas13, which targets RNA, rather than DNA, and may potentially be a way to treat genetic diseases without altering the genome. Zhang has also developed a molecular detection system called SHERLOCK based on the Cas13 family, which can sense trace amounts of genetic material, including viruses and alterations in genes that might be linked to cancer.

“I am tremendously honored to have our work recognized by the Keio Medical Prize,” says Zhang. “It is an inspiration to us to continue our work to improve human health.”

Now in its 23rd year, the Keio Medical Science Prize is awarded to a maximum of two scientists each year. The other 2018 laureate, Masashi Yanagisawa, director of the International Institute for Integrative Sleep Medicine at the University of Tsukuba, is being recognized for his seminal work on sleep control mechanisms.

The prize is offered by Keio University, and the selection committee specifically looks for laureates that have made an outstanding contribution to medicine or the life sciences. The prize was initially endowed by Mitsunada Sakaguchi in 1994, with the express condition that it be used to commend outstanding science, promote advances in medicine and the life sciences, expand researcher networks, and contribute to the wellbeing of humankind. The winners receive a certificate of merit, a medal, and a monetary award of approximately $90,000.

The prize ceremony will be held on Dec. 18 at Keio University in Tokyo.