Learning Actionable Information Landscapes for Multimodal Active Sensing in Hawkmoths

원문 초록

Animals integrate information across sensory modalities to guide exploration, suggesting that they maintain internal estimates of where actions are expected to reduce uncertainty. However, how such action-conditioned information maps are learned from multimodal sensory experience remains unclear, as previous studies have been largely confined to unimodal sensing frameworks. We introduce a multimodal predictive-coding framework for learning uncertainty-reduction maps from visual and mechanosensory observations in hawkmoth flower interaction tasks. A variational generative model trained on simulated environments recovers modality-specific information landscapes over the action space, capturing how visual patterns, surface geometry, and mechanosensory cues shape the value of exploratory actions. These learned maps are consistent with several features of hawkmoth behavior, including nonzero tracking offsets, probing along visual patterns, and geometry-dependent exploration. Applying the model to behavioral data from flower tracking and nectary search, we find that natural trajectories tend to occupy regions of high uncertainty reduction in these learned maps. Building on these observations, we develop an uncertainty-gated lexicographic algorithm that switches between information gathering and reward exploitation based on perceptual uncertainty. In nectary search, uncertainty gating improves learning relative to exploit-only, $\epsilon$-greedy, fixed-time, and uncertainty-calibrated non-lexicographic controls, with better generalization and robustness to sensory and curvature shifts. These results link information landscapes learned through generative modeling to biological sensing and embodied exploration.