Related papers: Internal feedback in the cortical perception-actio…
The response time of physical computational elements is finite, and neurons are no exception. In hierarchical models of cortical networks each layer thus introduces a response lag. This inherent property of physical dynamical systems…
The influence of time delay in systems of two coupled excitable neurons is studied in the framework of the FitzHugh-Nagumo model. Time-delay can occur in the coupling between neurons or in a self-feedback loop. The stochastic…
Everyday locomotion is a complex sensorimotor process that can unfold over multiple timescales, from long-term path planning to rapid, reactive adjustments. However, we lack an understanding of how factors such as environmental demands, or…
Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinearities and unstructured disturbances, while RL-based methods…
In the human brain, internal states are often correlated over time (due to local recurrence and other intrinsic circuit properties), punctuated by abrupt transitions. At first glance, temporal smoothness of internal states presents a…
Efficient coding theory posits that sensory circuits transform natural signals into neural representations that maximize information transmission subject to resource constraints. Local interneurons are thought to play an important role in…
Inputs to signaling pathways can have complex statistics that depend on the environment and on the behavioral response to previous stimuli. Such behavioral feedback is particularly important in navigation. Successful navigation relies on…
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…
A model of sensory information processing is presented. The model assumes that learning of internal (hidden) generative models, which can predict the future and evaluate the precision of that prediction, is of central importance for…
Animal sensorimotor behavior is frequently modeled using optimal controllers. However, it is unclear how the neural circuits within the animal's nervous system implement optimal controller-like behavior. In this work, we study the question…
The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…
The thalamus is the major gate to the cortex and its control over cortical responses is well established. Cortical feedback to the thalamus is, in turn, the anatomically dominant input to relay cells, yet its influence on thalamic…
Adapting one's thought process based on corrective feedback is an essential ability in human learning, particularly in collaborative settings. In contrast, the current large language model training paradigm relies heavily on modeling vast,…
We generalize a method of control of chaos which uses delayed feedback at the period of an unstable orbit to stabilize that orbit. The generalization consists of substituting some portion of the nonlinear dynamical system with a delayed…
Corrections offer a natural modality for people to provide feedback to a robot, by (i) intervening in the robot's behavior when they believe the robot is failing (or will fail) the task objectives and (ii) modifying the robot's behavior to…
The abundance of process operating data in modern industries, along with the rapid advancement of learning techniques, has led to a paradigm shift towards data-centric analysis and control. However, integrating machine learning with control…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
To thrive in dynamic environments, animals must be capable of rapidly and flexibly adapting behavioral responses to a changing context and internal state. Examples of behavioral flexibility include faster stimulus responses when attentive…
Feedback optimization has emerged as a promising approach for regulating dynamical systems to optimal steady states that are implicitly defined by underlying optimization problems. Despite their effectiveness, existing methods face two key…
Brains can process sensory information from different modalities at astonishing speed; this is surprising as the integration of inputs through the membrane of each individual neuron already causes a delayed response. Neuronal recordings…