相关论文: Cerebellar-Inspired Learning Rule for Gain Adaptat…

How does our motor system solve the problem of anticipatory control in spite of a wide spectrum of response dynamics from different musculo-skeletal systems, transport delays as well as response latencies throughout the central nervous…

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.…

Human beings and other vertebrates show remarkable performance and efficiency in locomotion, but the functioning of their biological control systems for locomotion is still only partially understood. The basic patterns and timing for…

Robotic policies deployed in real-world environments often encounter post-training faults, where retraining, exploration, or system identification are impractical. We introduce an inference-time, cerebellar-inspired residual control…

Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…

How dynamic interactions between nervous system regions in mammals performs online motor control remains an unsolved problem. In this paper we show that feedback control is a simple, yet powerful way to understand the neural dynamics of…

Animals use past experiences to adapt future behavior. To enable this rapid learning, vertebrates and invertebrates have evolved analogous neural structures like the vertebrate cerebellum or insect mushroom body. A defining feature of these…

Model Predictive Control (MPC) provides interpretable, tunable locomotion controllers grounded in physical models, but its robustness depends on frequent replanning and is limited by model mismatch and real-time computational constraints.…

We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodology that achieves evolution of the measured output within…

The cerebellum is implicated in nearly every domain of human cognition, yet our understanding of how this subcortical structure contributes to cognition remains elusive. Efforts on this front have tended to fall into one of two camps. On…

We exploit an adaptive control technique, namely funnel control, in order to establish both initial and recursive feasibility in Model Predictive Control (MPC) for output-constrained nonlinear systems. Moreover, we show that the resulting…

We present a cerebellar architecture with two main characteristics. The first one is that complex spikes respond to increases in sensory errors. The second one is that cerebellar modules associate particular contexts where errors have…

The success of deep learning sparked interest in whether the brain learns by using similar techniques for assigning credit to each synaptic weight for its contribution to the network output. However, the majority of current attempts at…

The Cerebellar Model Articulation Controller (CMAC) is an influential brain-inspired computing model in many relevant fields. Since its inception in the 1970s, the model has been intensively studied and many variants of the prototype, such…

There is overwhelming evidence that cognition, perception, and action rely on feedback control. However, if and how neural population dynamics are amenable to different control strategies is poorly understood, in large part because machine…

This paper investigates controller identification given data from a Model Predictive Controller (MPC) with constraints. We propose an approach for learning MPC that explicitly uses the gradient information in the training process. This is…

Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…

Model Predictive Control (MPC) is attracting tremendous attention in the autonomous driving task as a powerful control technique. The success of an MPC controller strongly depends on an accurate internal dynamics model. However, the static…

We establish an algorithm to learn feedback maps from data for a class of robust model predictive control (MPC) problems. The algorithm accounts for the approximation errors due to the learning directly at the synthesis stage, ensuring…

A supervised learning framework is proposed to approximate a model predictive controller (MPC) with reduced computational complexity and guarantees on stability and constraint satisfaction. The framework can be used for a wide class of…