Related papers: Neuromimetic Control -- A Linear Model Paradigm

Sensory neurons often have variable responses to repeated presentations of the same stimulus, which can significantly degrade the stimulus information contained in those responses. This information can in principle be preserved if…

Human brain contains about 10 billion neurons, each of which has about 10~10,000 nerve endings from which neurotransmitters are released in response to incoming spikes, and the released neurotransmitters then bind to receptors located in…

Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…

Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…

The meteoric rise in the adoption of deep neural networks as computational models of vision has inspired efforts to "align" these models with humans. One dimension of interest for alignment includes behavioral choices, but moving beyond…

We study fundamental performance limitations of distributed feedback control in large-scale networked dynamical systems. Specifically, we address the question of whether dynamic feedback controllers perform better than static (memoryless)…

Predicting how the brain can be driven to specific states by means of internal or external control requires a fundamental understanding of the relationship between neural connectivity and activity. Network control theory is a powerful tool…

In many complex systems, elementary units live in a chaotic environment and need to adapt their strategies to perform a task, by extracting information from the environment and controlling the feedback loop on it. One of the main example of…

The cerebellum plays a distinctive role within our motor control system to achieve fine and coordinated motions. While cerebellar lesions do not lead to a complete loss of motor functions, both action and perception are severally impacted.…

In both neuroscience and artificial intelligence, popular functional frameworks and neural network formulations operate by making use of extrinsic error measurements and global learning algorithms. Through a set of conjectures based on…

The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…

For group-living animals, reaching consensus to stay cohesive is crucial for their fitness, particularly when collective motion starts and stops. Understanding the decision-making at individual and collective levels upon sudden disturbances…

In this paper a theoretical model of functioning of a neural circuit during a behavioral response has been proposed. A neural circuit can be thought of as a directed multigraph whose each vertex is a neuron and each edge is a synapse. It…

The brain must extract behaviorally relevant latent variables from the signals streamed by the sensory organs. Such latent variables are often encoded in the dynamics that generated the signal rather than in the specific realization of the…

Statistical properties of environments experienced by biological signaling systems in the real world change, which necessitate adaptive responses to achieve high fidelity information transmission. One form of such adaptive response is gain…

Animals exploit time to survive in the world. Temporal information is required for higher-level cognitive abilities such as planning, decision making, communication, and effective cooperation. Since time is an inseparable part of cognition,…

Stick insect stepping patterns have been studied for insights about locomotor rhythm generation and control, because the underlying neural system is relatively accessible experimentally and produces a variety of rhythmic outputs. Harnessing…

We consider the problem of stabilization of a linear system, under state and control constraints, and subject to bounded disturbances and unknown parameters in the state matrix. First, using a simple least square solution and available…

The current leading computer vision models are typically feed forward neural models, in which the output of one computational block is passed to the next one sequentially. This is in sharp contrast to the organization of the primate visual…

Progress has led to a detailed understanding of the neural mechanisms that underlie decision making in primates. However, less is known about why such mechanisms are present in the first place. Theory suggests that primate decision making…