This article was originally published in Brain Mapping: An Encyclopedic Reference, published by Elsevier, and the attached copy is provided by Elsevier for the author's benefit and for the benefit of the author's institution, for non-commercial research and educational use including without limitation use in instruction at your institution, sending it to specific colleagues who you know, and providing a copy to your institution’s administrator. All other uses, reproduction and distribution, including without limitation commercial reprints, selling or licensing copies or access, or posting on open internet sites, your personal or institution’s website or repository, are prohibited. For exceptions, permission may be sought for such use through Elsevier's permissions site at: http://www.elsevier.com/locate/permissionusematerial Hsu M., and Preuschoff K. (2015) Uncertainty. In: Arthur W. Toga, editor. Brain Mapping: An Encyclopedic Reference, vol. 3, pp. 391-399. Academic Press: Elsevier. Author's personal copy Uncertainty M Hsu, University of California, Berkeley, CA, USA K Preuschoff, Swiss Federal Institute of Technology Lausanne (EPFL), Lausanne, Switzerland ã 2015 Elsevier Inc. All rights reserved. Glossary Ambiguity Situations where probabilities are based on meager or conflicting evidence, where important information is clearly missing. Functional magnetic resonance imaging Noninvasive technique of measuring brain activity by detecting associated changes in blood flow. Introduction Uncertainty is pervasive in the world (Kahneman & Tversky, 1979; Savage, 1972; Taylor-Gooby & Zinn, 2006). The purchase of a lottery ticket, for example, entails obtaining a small but nonzero chance of winning a large jackpot, at the cost of a certain loss in the form of the price of the ticket. Moreover, the attractiveness of two lottery tickets with the same cost will likely center on two factors – the size of the prize and the likelihood of winning. Most will agree, for example, a lottery that pays $1000 with 80% chance (and $0 otherwise) is worth more than one paying $500 with 40% chance (Bossaerts, Preuschoff, & Hsu, 2008; Rangel, Camerer, & Montague, 2008; Savage, 1972; Tversky & Kahneman, 1992). In natural environments, organisms often face a similar dilemma in choosing between uncertain large gains and safe smaller rewards (Krebs & Davies, 2009; Rangel et al., 2008; Savage, 1972; Sugrue, Corrado, & Newsome, 2005; Tversky & Fox, 1995). As rewards and punishments present in the environment are rarely known for certain, the brain must be able to sense, respond to, and, if necessary, resolve uncertainty in ways that allow the organism to obtain rewards and avoid punishments (Bossaerts et al., 2008; Maia & Frank, 2011; Montague, King-Casas, & Cohen, 2006; Schultz, 2006; Schultz, Dayan, & Montague, 1997). We have long known that organisms are sensitive to uncertainty, as documented by a wealth of research studies spanning many research areas, from behavioral economics (Camerer, 1989; Kahneman & Tversky, 1979; Savage, 1972) to ecology (Krebs & Davies, 2009; O’Connell & Hofmann, 2011). But it was not until about two decades ago that our knowledge of the neural basis of decision-making under uncertainty began to be transformed by a multidisciplinary effort that combined simple gambling games such as the lotteries described earlier (Bossaerts et al., 2008; Camerer, 1989; Knutson et al., 2008; Kuhnen & Knutson, 2005; Rangel et al., 2008) with neuroscientific methods, including functional magnetic resonance imaging (fMRI) (Kuhnen & Knutson, 2005; Preuschoff, Bossaerts, & Quartz, 2006), electrophysiological recordings (Fiorillo, Tobler, & Schultz, 2003; Ogawa et al., 2013), and lesion studies (Camille et al., 2004; Hsu et al., 2005) in Brain Mapping: An Encyclopedic Reference Reinforcement learning Class of machine learning algorithms involving trial and error learning, inspired by animal learning studies in behavioral psychology. Risk Situations, such as roulette games or lotteries, where probabilities are known with precision. Uncertainty A state of having limited knowledge regarding future outcome. Here used to encompass both risk and ambiguity. humans, nonhuman primates (Schultz et al., 1997; Sugrue, Corrado, & Newsome, 2004), and rodents (Jones et al., 2012; Kiani & Shadlen, 2009). The resulting interdisciplinary paradigms are highly suited for formal mathematical models of uncertainty from economics and control theory. As such, they enable us to quantitatively characterize neural representations of key constructs hypothesized to underlie uncertainty (Camerer, 1989; Markowitz, 1952; Savage, 1972). On the one hand, the resulting framework provides excellent experimental control with which to measure and manipulate the uncertainty presented to subjects and observe their subsequent effects on behavior. On the other hand, this framework directly links such manipulations and their behavioral consequences to computations in neural systems. We will begin with a discussion of how the brain represents values in the presence of uncertainty, focusing on the relatively simple case of uncertainty over outcomes when probabilities can be assigned. We then address the more complex case of how the brain processes uncertainty when probabilities themselves are uncertain, so-called ‘ambiguity.’ We then deal with other forms of uncertainty and how the brain learns about uncertainty over time. We conclude with open questions and exciting new frontiers in this topic. Neural Representation of Expected Value and Risk To choose between any prospects, certain or uncertain, an organism has to first assess their values. An inaccurate assessment can result in costs in the form of overpayment in monetary terms, wasted effort, or, in extreme cases, danger to one’s own survival. Let us return to our example from the preceding text: it seems clear that a lottery that pays $1000 with 80% chance is worth more, that is, it has higher value than one paying $500 with 40% chance. But how much more valuable is the first lottery? The difficulty becomes more obvious if we swap the probabilities: Would you rather have a lottery that pays $1000 with 40% chance (and $0 otherwise) or one that pays $500 with 80% chance? We already know that most people have a strong preference for one lottery over the other http://dx.doi.org/10.1016/B978-0-12-397025-1.00260-8 Brain Mapping: An Encyclopedic Reference, (2015), vol. 3, pp. 391-399 391 Author's personal copy 392 INTRODUCTION TO COGNITIVE NEUROSCIENCE | Uncertainty despite the fact that they have equal expected value. But how does the brain value these two options? We have compelling evidence that the brain, in particular the ventral striatum, responds to the expected value of a lottery (Knutson et al., 2001; McClure, Berns, & Montague, 2003; Schultz et al., 1997). We also know that the dopaminergic system plays a crucial role in evaluating the outcome of uncertain gambles: after revealing the outcome of stochastic rewards to a monkey, dopaminergic midbrain neurons reflect errors in predicting these rewards (Daw, 2007; Schultz et al., 1997; Figure 1). These error signals are remarkably similar those used in error-based learning algorithms such as the Rescorla– Wagner rule or more general reinforcement learning algorithms that also extend to complex multiple stimuli–reward situations (McClure et al., 2003; Montague, Hyman, & Cohen, 2004; O’Doherty et al., 2003). Subsequent studies in humans using functional MRI have linked the midbrain signal to activity in frontostriatal circuits (i) that receive abundant dopaminergic input (Abler et al., 2006; Knutson et al., 2001; O’Doherty, 2004; Seymour et al., 2004). These results, and subsequent works elucidating the specific computational mechanisms, are now well established and form the foundation of much of what we know about the brain and decision-making in general (Glimcher & Fehr, 2013; Schultz et al., 2008). Now let us return to the problem of uncertainty. An organism that simply makes decisions based on subjective value can exhibit behavior that can be quite pathological. One of the first demonstrations of this is the so-called Saint Petersburg paradox proposed by Nicholas Bernoulli, ostensibly based on a popular gambling game then fashionable in Russia (Bernoulli, 1968). The game involved betting on how many tosses of a coin will be needed before it first turns up heads, where the player is paid 2n dollars if the coin comes up heads on the nth toss. The expected value of this gamble is 12 ð2Þ þ 14 ð4Þ þ 18 þ ¼ 1 þ 1 þ 1 þ ¼ 1 dollar, but when people are asked how much they would be (i) Median change in activity 40 (ii) (ii) 30 20 10 0 –10 (iii) (iii) 0 (c) (v) (a) 1s (iv) (v) Stimulus Reward (b) Reward probability 2.5 imp s–1 1s (iv) 0.25 0.50 0.75 1.00 Stimulus Reward Figure 1 Reward and risk signals in dopamine neurons. (a) Phasic reward value signal reflecting reward prediction (left) and more sustained risk signal during the stimulus–reward interval in a single dopamine neuron. Visual stimuli predicting reward probabilities (i) 0.0, (ii) 0.25, (iii) 0.5, (iv) 0.75, and (v) 1.0 alternated semirandomly between trials. Both rewarded and unrewarded trials are shown at intermediate probabilities; the longer vertical marks in the rasters indicate delivery of the juice reward. (b) Population histograms of responses shown in (a). Histograms were constructed from every trial in 35–44 neurons per stimulus type. Both rewarded and unrewarded trials are included at intermediate probabilities. (i) 0.0, (ii) 0.25, (iii) 0.5, (iv) 0.75, and (v) 1.0. (c) Median sustained risk-related activation of dopamine neurons as a function of reward probability. Plots show the sustained activation as inverted U function of reward probability, indicating relationship to risk as opposed to value. Data from different stimulus sets and animals are shown separately. Adapted from Fiorillo, C. D., Tobler, P. N., & Schultz, W. (2003). Discrete coding of reward probability and uncertainty by dopamine neurons. Science (New York, NY), 299(5614), 1898–1902. Brain Mapping: An Encyclopedic Reference, (2015), vol. 3, pp. 391-399 Author's personal copy INTRODUCTION TO COGNITIVE NEUROSCIENCE | Uncertainty willing to invest in such a gamble, few would pay more than $25 (Martin, 2004). As such, people’s choice behavior departs significantly from simple expected value maximization (Cox & Sadiraj, 2008). There are a number of resolutions to this paradox, but the central insight is that organisms are sensitive not only to the expected value of an outcome but also to the spread or, more formally, its risk (Bernoulli, 1968; Savage, 1972). If responses of the dopaminergic system underpin calculations of expected reward, does the brain also respond to the ‘spread’ (or risk) of a gamble? In our second lottery example earlier, the two lotteries ($1000 @ 40% and $500 at 80%) only differ in their risk. As detailed in the succeeding text, it appears that the brain values risky gambles by evaluating their expected reward and risk separately (Figure 1). The separate evaluations are then merged to generate a total valuation signal, detectable in, for example, the prefrontal cortex (PFC). Early evidence for the explicit representation of spread measured as the variance of the gamble came, once again, from electrophysiological studies of the monkey midbrain dopamine system (Fiorillo et al., 2003). In addition to a fast response that scales monotonically with expected reward (Figure 1(a)), the researchers also found a slower response that appeared to scale with the risk (variance) of the gamble (Figure 1(b) and 1(c)). This response was later captured in humans using fMRI in a study using a simple card task (Preuschoff et al., 2006; Figure 2(a)). Consistent with the notion of explicit representations of outcome uncertainty, activity in a number of brain regions (Figure 2(c)), including the striatum, midbrain, and insula, reflected variance (or its square root, standard deviation), in addition to regions that responded to expected reward (Bossaerts et al., 2008; Preuschoff et al., 2006; Schultz et al., 2008; Figure 2(c)). An important innovation in all these studies is that they systematically vary outcome probabilities, in order to decouple the relative contribution of expected magnitude of reward and the variance of reward. By now, the evidence of risk encoding in the human and nonhuman primate brain is overwhelming. Some regions, such as the insula, appear to encode risk exclusively (Bossaerts et al., 2008; Preuschoff et al., 2006), a result that is supported by recent meta-analyses suggesting such separate encoding of expected reward, variance, and even higher moments such as skewness (Wu, Sacchet, & Knutson, 2012; Figure 3). In contrast, the anterior cingulate cortex (ACC) and inferior frontal gyrus appear to reflect a signal combining expected reward and risk (Critchley, Mathias, & Dolan, 2001; Paulus et al., 2003; Weber & Huettel, 2008). In particular, in Figure 4(a), PFC activation appears to increase with expected reward for all subjects but decreases with risk for risk-averse subjects and increases with risk for risk-seeking subjects (Tobler et al., 2007; Figure 4(b)). Neural Representation of Ambiguity The previous section was concerned with decision-making under risk, that is, situations in which outcome probabilities are known as is the case when playing a lottery. However, in most real-life situations, probabilities are unknown or only 393 partially known. The latter is referred to in decision theory as ambiguity (Camerer & Weber, 1992; Ellsberg, 1961). To illustrate the difference between risk and ambiguity, consider the so-called Ellsberg paradox with two urns (Camerer & Weber, 1992; Ellsberg, 1961). One urn is composed of 15 red and 15 blue chips (the risky urn). Another urn also has 30 red or blue chips, but the composition of red and blue chips is completely unknown (the ambiguous urn). A bet on a color pays a fixed sum (e.g., $10) if a chip with the chosen color is drawn, and zero otherwise (Figure 5). In a typical experiment, subjects are first informed about the winning color (red or blue) and are then asked to choose one of the two urns to draw from. Independent of whether the winning color is red or blue, many people prefer to draw from the risky urn rather than from the ambiguous urn (Camerer & Weber, 1992; Hsu et al., 2005). If betting preferences are determined only by probabilities, this pattern is a paradox (Ellsberg, 1961; Raiffa, 1961). In theory, avoiding the ambiguous urn when the winning color is red implies that its subjective probability is lower than that of the risky urn (pamb(red) < Prisk(red)). Analogously, avoiding the ambiguous urn when the winning color is blue implies Pamb(blue) < prisk(blue). But these inequalities, and the fact that the probabilities of red and blue must add to one for each deck, implying that 1 ¼ pamb (red) þ pamb(blue) < prisk(red) þ prisk(blue) ¼ l, are a contradiction. The paradox can be resolved by allowing choices to depend on subjective probabilities of events and on the ambiguity of those events. For example, if ambiguous probabilities are subadditive, then 1 pamb(red) pamb(blue) represents reserved belief and indexes the degree of aversion to ambiguity (Camerer & Weber, 1992). There are two natural predictions that fall out of this behavioral evidence of an aversion to ambiguity. First, the subjective reward of ambiguous choices should be lower than those of matching risky choices, hence the phenomenon of ambiguity aversion. Second, the brain should be sensitive to the uncertainty over the probabilities over outcomes. That is, there should be regions where responses vary systematically depending on the presence of ambiguity. Using fMRI with gambling tasks involving both risky and ambiguous gambles such as those in the preceding text, it was found that striatal activity appeared to distinguish between risky and ambiguous gambles (Figure 6), such that activity on risky choices was greater than those in ambiguous choices (Hsu et al., 2009; Figure 6(b)). This is consistent with the notion that ambiguity-averse individuals would value risky gambles higher than ambiguous ones. Second, a separate network of regions, in particular the lateral orbitofrontal cortex (LOFC) and amygdala, appeared to be sensitive to ambiguity of the gambles, such that their activity is higher under ambiguity than risk (Hsu et al., 2005; Figure 6(a)). Moreover, examining the time course of the respective activations revealed that whereas striatal responses appear locked to choices, LOFC and amygdala responses appear locked to the presentation of the gambles, suggesting that the LOFC and amygdala may be responsible for sensing uncertainty over probabilities (Figure 6). This hypothesis is supported by a follow-up lesion study of neurological subjects with focal brain lesions to the LOFC and a matched comparison group where damage did not include prefrontal regions (Hsu et al., Brain Mapping: An Encyclopedic Reference, (2015), vol. 3, pp. 391-399 Author's personal copy Figure 2 Risk signals in human brain. (a) On each trial, two cards were drawn (without replacement within each trial) from a deck of ten, numbered 1–10. Before seeing either card, subjects first placed a $1 bet on one of two options, ‘second card higher’ or ‘second card lower’ (than first card shown). Subjects could earn $1 if they guessed the right card and lost $1 if they were wrong. Once the bet was placed, subjects saw card 1, followed 7 s later by card 2. (b) Expected reward increases linearly in the probability of reward p (dashed line) and is minimal at p ¼ 0 and maximal at p ¼ 1. Risk, measured as reward variance, is an inversely quadratic function of probability that is minimal at p ¼ 0 and p ¼ 1 and maximal at p ¼ 0.5 (solid line). (c) Sustained BOLD response during 6 s correlated with variance as inverted U function of reward probability. Adapted from Preuschoff, K., Bossaerts, P., & Quartz, S. R. (2006). Neural differentiation of expected reward and risk in human subcortical structures. Neuron, 51(3), 381–390, with permission by Elsevier. Brain Mapping: An Encyclopedic Reference, (2015), vol. 3, pp. 391-399 Author's personal copy INTRODUCTION TO COGNITIVE NEUROSCIENCE | Uncertainty Mean Variance 395 Skewness 0.050 0.025 0.003 ALE A=8 A = 15 A=8 Figure 3 Meta-analysis of uncertainty signals in the brain. Activation likelihood estimate (ALE) meta-analytic maps for high versus low mean, variance, and skewness. ALE of mean: bilateral NAcc. ALE of variance: bilateral anterior insula. ALE of skewness: left NAcc. Adapted from Wu, C. C., Sacchet, M. D., & Knutson, B. (2012). Toward an affective neuroscience account of financial risk taking. Frontiers in Neuroscience, 6: 159. Contrast estimate 5 0 –5 –10 –15 –20 (a) Contrast estimate 20 10 0 –10 –20 –4 (b) –3 –2 –1 0 1 2 3 Degree of risk aversion 4 Figure 4 Risk attitude signals in the lateral OFC. (a) Risk was positively correlated with activity in the lateral OFC for risk-seeking individuals and negatively for risk-averse individuals, consistent with a ‘safety’ or ‘fear’ signal. (b) The reverse pattern is true for medial OFC, consistent with a ‘risk-seeking’ or ‘gambling’ signal. Adapted from Tobler, P. N., et al. (2007). Reward value coding distinct from risk attitude-related uncertainty coding in human reward systems. Journal of Neurophysiology, 97(2), 1621–1632. 2005). Strikingly, using a computational model that quantified risk and ambiguity attitude of the participants, the LOFC lesion patients were found to be abnormally neutral toward ambiguity, consistent with previous findings that OFC lesion patients appeared insensitive to different degrees of uncertainty (Bechara et al., 1999, 2000). Furthermore, this characterization appears to extend to situations where the degree of ambiguity varies (Levy et al., 2010). The authors cleverly manipulated the magnitude of the uncertainty about probabilities. For example, if there are ten chips of either red or blue in the urn, the decision-maker may know that there are at least two red chips, but the exact number of red chips can range from 2 to 10 (Figure 7(a)). Thus, partial ambiguity can be defined as situations where the decision-maker has some incomplete knowledge of the underlying probabilities, whereas complete ambiguity can be said to be cases where the decision-maker has no knowledge. Importantly, by extending the range of ambiguity, the LOFC was found to respond parametrically to the degree of ambiguity, which functions perhaps as an index of the degree of missing Brain Mapping: An Encyclopedic Reference, (2015), vol. 3, pp. 391-399 Author's personal copy 396 INTRODUCTION TO COGNITIVE NEUROSCIENCE | Uncertainty Risky urn information in the environment (Huettel et al., 2006; Levy et al., 2010; Figure 7(b)). Ambiguous urn Learning about Uncertainty Thus far, we have largely restricted ourselves to the discussion of uncertainty in one-shot or stable encounters where the organism must choose between prospects of different risk– reward profiles. However, in natural environments, these risk–reward profiles may change over time, predictably as well as unpredictably. An organism should therefore learn about the uncertainty in its environment and adjust its choice behavior accordingly. The problem is that not all prediction Figure 5 Illustration of uncertainty about probability. In the ‘risky’ urn on the left, the probabilities for drawing a red or blue chip are known. In the ‘ambiguous’ urn on the right, they are not known. People typically prefer to bet on the left (risky) urn. Reproduced from Ellsberg, D. (1961). Risk, ambiguity, and the savage axioms. The Quarterly Journal of Economics, 75(4), 643–669. y = –7 L striatum R Amygdala % signal change % signal change L Amygdala 0.1 0 0.1 0 –0.1 0 –0.1 5 10 15 Time (s) 0 5 Time (s) L OFC R striatum 10 Onset Mean decision y=5 R OFC (b) 0.2 0.1 0 y = 35 Onset –0.1 Ambiguity (a) Mean decision Ambiguity Risk Risk Figure 6 Neural responses to ambiguity. (a) Amygdala and lateral OFC responses were greater under ambiguity than risk. Dashed vertical lines are mean decision times. (b) In contrast, striatal activity was greater under risk than ambiguity and moreover was correlated with expected reward of subjects’ choices. Adapted from Hsu, M., Bhatt, M., Adolphs, R., Tranel, D., & Camerer, C. F. (2005). Neural systems responding to degrees of uncertainty in human decision-making. Science (New York, NY), 310(5754), 1680–1683. Ambiguous urns 0.35 0.30 max sem fMRI response [% signal change] 0.25 Risky urns 0.20 p = 0.38 0.15 p = 0.25 0.10 p = 0.13 0.05 A = 0.25 0.00 –0.05 –4 –2 0 2 4 6 8 10 12 14 16 18 20 22 24 t [s] –0.10 A = 0.50 A = 0.75 –0.15 (a) (b) (c) Figure 7 Lateral OFC response modulated by degree of ambiguity. (a) Degree of ambiguity was manipulated by obscuring the relative probability of the outcome probabilities (either red or blue) using a gray bar. For example, the middle urn consisted of a gamble where there were at least 25% of red and 25% of blue, leaving 50% unknown. (b–c) Lateral OFC activity responded parametrically to the degree of ambiguity. Adapted from Levy, I., et al. (2010). Neural representation of subjective value under risk and ambiguity. Journal of Neurophysiology, 103(2), 1036–1047. Brain Mapping: An Encyclopedic Reference, (2015), vol. 3, pp. 391-399 Author's personal copy INTRODUCTION TO COGNITIVE NEUROSCIENCE | Uncertainty errors are equal: a prediction error may arise simply because the environment itself is stochastic (though stable). Errors in such environments are uninformative and should not lead to behavioral changes. A prediction error may also arise because the environment has changed (is unstable). Errors in such environment are highly informative and should lead to behavioral changes. On the one hand, learning about outcome uncertainty, or risk, allows the decision-maker to assess whether or not to update its reward predictions after committing an error. Only when prediction errors appear to deviate from the predicted risk should organisms update their predictions (Bossaerts et al., 2008; Yu & Dayan, 2005). Otherwise, the learning rate should be low. It turns out that as with expected reward signals in the dopaminergic system, activation correlating with risk in some regions actually reflects risk prediction errors, that is, the difference between the square-size of the prediction error and its expectation (the variance). Specifically, phasic activation in anterior insula exhibits strong correlation with risk prediction errors (Preuschoff & Bossaerts, 2007; Preuschoff et al., 2008). On the other hand, in situations where the environment changes rapidly, past prediction errors become obsolete fast, and hence, prediction should rely more on recent prediction errors. In other words, the learning rate should increase. The intuition has rigorous theoretical underpinning (Preuschoff & Bossaerts, 2007) as changes in the environment are marked by large deviations from the expected risk, that is, large risk prediction errors. As such, risk prediction errors are highly useful in guiding organisms to adapt to changes in the environment. This has been supported by human neuroimaging work showing that the ACC appears central in the integration of risk prediction errors to adjust behavior in response to the degree of stability in the environment (Behrens et al., 2007; PayzanLeNestour & Bossaerts, 2011). In cases of ambiguity, learning is arguably even more crucial, as better assessments of probabilities directly translate into more accurate forecasts of rewards and punishments that can be obtained (Figure 8(a)). Studies combining ambiguity with learning have consistently implicated a wide network of lateral prefrontal and parietal cortices in the processing of ambiguity, where activity was greater in ambiguity as compared to risk (Bach & Dolan, 2012; Bach et al., 2011; Hsu & Zhu, 2014; Huettel et al., 2006; Figure 8(b)). These findings support the hypothesis that ambiguity is more than simply a heightened form of risk (Bach, Seymour, & Dolan, 2009; Bach, et al., 2011; Huettel, et al., 2006). This stands in stark contrast with the picture so far where much of the learning appears to take place via dopaminergic mechanisms in the striatum and (medial) PFC. However, a closer inspection of the type of information that is learned in the case of ambiguity provides a clue as regards to the type of neural system engaged. Unlike in learning about outcome uncertainty, learning about probabilities entails learning about relatively abstract states that may or may not have reward consequences. This is consistent with the substantial work in cognitive neuroscience that implicates frontoparietal regions in responding to environmental surprise and bottomup attentional processes (Corbetta, Patel, & Shulman, 2008; 397 Decision (RT) $0 $12 $20 ? Expectation (4.5-6s) $35 $0 $12 $20 Outcome (2s) $35 $0 $12 $20 You won $20 $35 You could have won $0 (a) Ambiguity effects (b) Figure 8 Neural processes in learning ambiguity. (a) Participants were presented ambiguous and risky gambles in the form of two roulette wheels. Following the selection of one of the gambles, the ambiguity was resolved and outcome determined by the final position of the wheels. (b) Ambiguity responses were found in the posterior inferior frontal sulcus and posterior parietal cortex. Adapted from Huettel, S. A., et al. (2006). Neural signatures of economic preferences for risk and ambiguity. Neuron, 49(5), 765–775. Gottlieb & Balan, 2010). Indeed, in related work in modelbased reinforcement learning where learning about states is explicitly distinguished from learning about rewards, the frontostriatal network appears to be involved in learning about rewards, whereas responses in the lateral frontoparietal network were associated with learning signals related to states (Beierholm et al., 2011; Gla¨scher et al., 2010). Conclusion The preceding text has reviewed current evidence about how the brain processes different forms of uncertainty. At this point, the picture is one where risk and reward are separately encoded in the brain and cognitive control regions are involved in the selection of actions that are associated with different expected rewards. Following the resolution of the uncertainty, a different set of regions are recruited to detect the resulting outcomes in the environment that can be used to update either reward expectations or probability assessments. Despite this substantial progress, there are a number of important questions that are as yet largely unexplored. One concerns the extent to which results from these relatively Brain Mapping: An Encyclopedic Reference, (2015), vol. 3, pp. 391-399 Author's personal copy 398 INTRODUCTION TO COGNITIVE NEUROSCIENCE | Uncertainty stylized laboratory settings can be generalized to the much more complex types of uncertainty faced in the real world. Although these simple gambling paradigms have been undoubtedly successful in probing the underlying computational mechanisms, they likely only capture a small slice of the variety of uncertainty that people experience. First, most of the studies earlier have explored different forms of uncertainty, such as risk and ambiguity, in isolation. In natural environments, different forms are intermixed. It is unclear how this affects their respective neural representations and how the different representations may interact. Second, a distinct aspect of uncertainty in human societies is that uncertainty is often translated verbally. How verbal descriptions of risk map onto more objective measures of risk has been a problem of considerable interest since the early days of decision theory (Hadar & Fox, 2009; Symmonds, Bossaerts, & Dolan, 2010). These are initially motivated by applications in military contexts where communication of uncertainty is of obvious value but are taking on new urgency in issues such as climate change. Addressing these questions therefore requires one to move outside of these rigorous but limiting paradigms, and embracing complexity associated with language processing, and those arising from social and cultural influences. Another important question is the extent to which pathologies to the neural systems implicated are associated with behavioral disorders such as pathological gambling and excessive risk taking with respect to financial, social, and sexual risks. 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