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Exactly 100 years ago, Louis Lapicque published a paper on the excitability of nerves that is often cited in the context of integrate-and-fire neurons. We discuss Lapicque's contributions along with a translation of the original publication.

The study provides an overview of the research activity carried out in the field of cybernetics. To do so, all research papers from 1997 to 2011 (16,445 research papers) under the category of 'Computer Science, Cybernetics' of Web of Science have been processed using our in-house software which is developed specifically for this purpose. Among its multiple capabilities, this software analyses individual and compound keywords, quantifies productivity taking into account the work distribution, estimates the impact of each article and determines the collaborations established at different scales. Keywords analysis identifies the evolution of the most important research topics in the field of cybernetics and their specificity in biological aspects, as well as the research topics with lesser interest. The analysis of productivity, impact and collaborations provides a framework to assess research activity in a specific and realistic context. The geographical and institutional distribution of publications reveals the leading countries and research centres, analysing their relation to main research journals. Moreover, collaborations analysis reveals great differences in terms of internationalization and complexity of research networks. The results of this study may be very useful for the characterization and the decisions made by research in the field of cybernetics. [ABSTRACT FROM AUTHOR]

This paper proposes a theoretical model of the control and perception mechanism in human balance. Human balance perception is evaluated by the subjective upright posture, the posture at which a person does not feel he/she is at an incline. Our balance experiments in the seated posture showed that the subjective upright posture changed after the balancing task where the participants needed to incline to maintain their balance. This paper aimed to explain this adaptive phenomenon by reproducing the experimental results using computer simulations. Hypothesizing that "humans gradually come to recognize the posture they need to take to maintain their balance as being upright," an adaptation rule for subjective upright posture is defined, so that it approaches the averaged posture in the period of the balancing task. For the balance control, center of pressure feedback is adopted. As a result, the similar changes in subjective upright posture are simulated with a two-link model with a base link, implying that our hypothesis is one possible explanation on the mechanism for human balance control and perception. [ABSTRACT FROM AUTHOR]

The development of biologically-inspired computational models has been the focus of study ever since the artificial neuron was introduced by McCulloch and Pitts in 1943. However, a scrutiny of literature reveals that most attempts to replicate the highly efficient and complex biological visual system have been futile or have met with limited success. The recent state-of the-art computer vision models, such as pre-trained deep neural networks and vision transformers, may not be biologically inspired per se. Nevertheless, certain aspects of biological vision are still found embedded, knowingly or unknowingly, in the architecture and functioning of these models. This paper explores several principles related to visual neuroscience and the biological visual pathway that resonate, in some manner, in the architectural design and functioning of contemporary computer vision models. The findings of this survey can provide useful insights for building futuristic bio-inspired computer vision models. The survey is conducted from a historical perspective, tracing the biological connections of computer vision models starting with the basic artificial neuron to modern technologies such as deep convolutional neural network (CNN) and spiking neural networks (SNN). One spotlight of the survey is a discussion on biologically plausible neural networks and bio-inspired unsupervised learning mechanisms adapted for computer vision tasks in recent times. [ABSTRACT FROM AUTHOR]

Although the raison d'etre of the brain is the survival of the body, there are relatively few theoretical studies of closed-loop rhythmic motor control systems. In this paper we provide a unified framework, based on variational analysis, for investigating the dual goals of performance and robustness in powerstroke–recovery systems. To demonstrate our variational method, we augment two previously published closed-loop motor control models by equipping each model with a performance measure based on the rate of progress of the system relative to a spatially extended external substrate—such as a long strip of seaweed for a feeding task, or progress relative to the ground for a locomotor task. The sensitivity measure quantifies the ability of the system to maintain performance in response to external perturbations, such as an applied load. Motivated by a search for optimal design principles for feedback control achieving the complementary requirements of efficiency and robustness, we discuss the performance–sensitivity patterns of the systems featuring different sensory feedback architectures. In a paradigmatic half-center oscillator-motor system, we observe that the excitation–inhibition property of feedback mechanisms determines the sensitivity pattern while the activation–inactivation property determines the performance pattern. Moreover, we show that the nonlinearity of the sigmoid activation of feedback signals allows the existence of optimal combinations of performance and sensitivity. In a detailed hindlimb locomotor system, we find that a force-dependent feedback can simultaneously optimize both performance and robustness, while length-dependent feedback variations result in significant performance-versus-sensitivity tradeoffs. Thus, this work provides an analytical framework for studying feedback control of oscillations in nonlinear dynamical systems, leading to several insights that have the potential to inform the design of control or rehabilitation systems. [ABSTRACT FROM AUTHOR]

How does your brain decide what you will do next? Over the past few decades compelling evidence has emerged that the basal ganglia, a collection of nuclei in the fore- and mid-brain of all vertebrates, are vital to action selection. Gurney, Prescott, and Redgrave published an influential computational account of this idea in Biological Cybernetics in 2001. Here we take a look back at this pair of papers, outlining the "GPR" model contained therein, the context of that model's development, and the influence it has had over the past twenty years. Tracing its lineage into models and theories still emerging now, we are encouraged that the GPR model is that rare thing, a computational model of a brain circuit whose advances were directly built on by others. [ABSTRACT FROM AUTHOR]

The aim of this paper is to integrate different bodies of research including brain traveling waves, brain neuromodulation, neural field modeling and post-stroke language disorders in order to explore the opportunity of implementing model-guided, cortical neuromodulation for the treatment of post-stroke aphasia. Worldwide according to WHO, strokes are the second leading cause of death and the third leading cause of disability. In ischemic stroke, there is not enough blood supply to provide enough oxygen and nutrients to parts of the brain, while in hemorrhagic stroke, there is bleeding within the enclosed cranial cavity. The present paper focuses on ischemic stroke. We first review accumulating observations of traveling waves occurring spontaneously or triggered by external stimuli in healthy subjects as well as in patients with brain disorders. We examine the putative functions of these waves and focus on post-stroke aphasia observed when brain language networks become fragmented and/or partly silent, thus perturbing the progression of traveling waves across perilesional areas. Secondly, we focus on a simplified model based on the current literature in the field and describe cortical traveling wave dynamics and their modulation. This model uses a biophysically realistic integro-differential equation describing spatially distributed and synaptically coupled neural networks producing traveling wave solutions. The model is used to calculate wave parameters (speed, amplitude and/or frequency) and to guide the reconstruction of the perturbed wave. A stimulation term is included in the model to restore wave propagation to a reasonably good level. Thirdly, we examine various issues related to the implementation model-guided neuromodulation in the treatment of post-stroke aphasia given that closed-loop invasive brain stimulation studies have recently produced encouraging results. Finally, we suggest that modulating traveling waves by acting selectively and dynamically across space and time to facilitate wave propagation is a promising therapeutic strategy especially at a time when a new generation of closed-loop cortical stimulation systems is about to arrive on the market. [ABSTRACT FROM AUTHOR]

Retrieval of episodic memories requires intrinsic reactivation of neuronal activity patterns. The content of the memories is thereby assumed to be stored in synaptic connections. This paper proposes a theory in which these are the synaptic connections that specifically convey the temporal order information contained in the sequences of a neuronal reservoir to the sensory-motor cortical areas that give rise to the subjective impression of retrieval of sensory motor events. The theory is based on a novel recursive version of support vector regression that allows for efficient continuous learning that is only limited by the representational capacity of the reservoir. The paper argues that hippocampal theta sequences are a potential neural substrate underlying this reservoir. The theory is consistent with confabulations and post hoc alterations of existing memories. [ABSTRACT FROM AUTHOR]

Noises are ubiquitous in sensorimotor interactions and contaminate the information provided to the central nervous system (CNS) for motor learning. An interesting question is how the CNS manages motor learning with imprecise information. Integrating ideas from reinforcement learning and adaptive optimal control, this paper develops a novel computational mechanism to explain the robustness of human motor learning to the imprecise information, caused by control-dependent noise that exists inherently in the sensorimotor systems. Starting from an initial admissible control policy, in each learning trial the mechanism collects and uses the noisy sensory data (caused by the control-dependent noise) to form an imprecise evaluation of the performance of the current policy and then constructs an updated policy based on the imprecise evaluation. As the number of learning trials increases, the generated policies mathematically provably converge to a (potentially small) neighborhood of the optimal policy under mild conditions, despite the imprecise information in the learning process. The mechanism directly synthesizes the policies from the sensory data, without identifying an internal forward model. Our preliminary computational results on two classic arm reaching tasks are in line with experimental observations reported in the literature. The model-free control principle proposed in the paper sheds more lights into the inherent robustness of human sensorimotor systems to the imprecise information, especially control-dependent noise, in the CNS. [ABSTRACT FROM AUTHOR]

The intertwining of space and time poses a significant scientific challenge, transcending disciplines from philosophy and physics to neuroscience. Deciphering neural coding, marked by its inherent spatial and temporal dimensions, has proven to be a complex task. In this paper, we present insights into temporal and spatial modes of neural coding and their intricate interplay, drawn from neuroscientific findings. We illustrate the conversion of a purely spatial input into the temporal form of a singular spike train, demonstrating storage, transmission to remote locations, and recall through spike bursts corresponding to Sharp Wave Ripples. Moreover, the converted temporal representation can be transformed back into a spatiotemporal pattern. The principles of the transformation process are illustrated using a simple feed-forward spiking neural network. The frequencies and phases of Subthreshold Membrane potential Oscillations play a pivotal role in this framework. The model offers insights into information multiplexing and phenomena such as stretching or compressing time of spike patterns. [ABSTRACT FROM AUTHOR]

Natural phenomena can be quantitatively described by means of mathematics, which is actually the only way of doing so. Physics is a convincing example of the mathematization of nature. This paper gives an answer to the question of how mathematization of nature is done and illustrates the answer. Here nature is to be taken in a wide sense, being a substantial object of study in, among others, large domains of biology, such as epidemiology and neurobiology, chemistry, and physics, the most outspoken example. It is argued that mathematization of natural phenomena needs appropriate core concepts that are intimately connected with the phenomena one wants to describe and explain mathematically. Second, there is a scale on and not beyond which a specific description holds. Different scales allow for different conceptual and mathematical descriptions. This is the scaling hypothesis, which has meanwhile been confirmed on many occasions. Furthermore, a mathematical description can, as in physics, but need not be universally valid, as in biology. Finally, the history of science shows that only an intensive gauging of theory, i.e., mathematical description, by experiment leads to progress. That is, appropriate core concepts and appropriate scales are a necessary condition for mathematizing nature, and so is its verification by experiment. [ABSTRACT FROM AUTHOR]

Recently, 1/ f fluctuations have been discovered in the single-unit activity of mesencephalic reticular formation (MRF) neurons during REM sleep. In a previous paper, such behavior could satisfyingly be interpreted on the basis of the clustering Poisson process. The question of applicability of this model to other MRF neurons remained unanswered. The present paper reports on 1/ f fluctuations in 12 MRF neurons all of which can satisfyingly be modeled by the clustering Poisson process. [ABSTRACT FROM AUTHOR]

This paper addresses the question of maximizing classifier accuracy for classifying task-related mental activity from Magnetoencelophalography (MEG) data. We propose the use of different sources of information and introduce an automatic channel selection procedure. To determine an informative set of channels, our approach combines a variety of machine learning algorithms: feature subset selection methods, classifiers based on regularized logistic regression, information fusion, and multiobjective optimization based on probabilistic modeling of the search space. The experimental results show that our proposal is able to improve classification accuracy compared to approaches whose classifiers use only one type of MEG information or for which the set of channels is fixed a priori. [ABSTRACT FROM AUTHOR]

Detecting small moving targets against a cluttered background in visual data is a challenging task. The main problems include spatio-temporal target contrast enhancement, background suppression and accurate target segmentation. When targets are at great distances from a non-stationary camera, the difficulty of these challenges increases. In such cases the moving camera can introduce large spatial changes between frames which may cause issues in temporal algorithms; furthermore targets can approach a single pixel, thereby affecting spatial methods. Previous literature has shown that biologically inspired methods, based on the vision systems of insects, are robust to such conditions. It has also been shown that the use of divisive optic-flow inhibition with these methods enhances the detectability of small targets. However, the location within the visual pathway the inhibition should be applied was ambiguous. In this paper, we investigated the tunings of some of the optic-flow filters and use of a nonlinear transform on the optic-flow signal to modify motion responses for the purpose of suppressing false positives and enhancing small target detection. Additionally, we looked at multiple locations within the biologically inspired vision (BIV) algorithm where inhibition could further enhance detection performance, and look at driving the nonlinear transform with a global motion estimate. To get a better understanding of how the BIV algorithm performs, we compared to other state-of-the-art target detection algorithms, and look at how their performance can be enhanced with the optic-flow inhibition. Our explicit use of the nonlinear inhibition allows for the incorporation of a wider dynamic range of inhibiting signals, along with spatio-temporal filter refinement, which further increases target-background discrimination in the presence of camera motion. Extensive experiments shows that our proposed approach achieves an improvement of 25% over linearly conditioned inhibition schemes and 2.33 times the detection performance of the BIV model without inhibition. Moreover, our approach achieves between 10 and 104 times better detection performance compared to any conventional state-of-the-art moving object detection algorithm applied to the same, highly cluttered and moving scenes. Applying the nonlinear inhibition to other algorithms showed that their performance can be increased by up to 22 times. These findings show that the application of optic-flow- based signal suppression should be applied to enhance target detection from moving platforms. Furthermore, they indicate where best to look for evidence of such signals within the insect brain. [ABSTRACT FROM AUTHOR]

The visual systems of insects are relatively simple compared to humans. However, they enable navigation through complex environments where insects perform exceptional levels of obstacle avoidance. Biology uses two separable modes of optic flow to achieve this: rapid gaze fixation (rotational motion known as saccades); and the inter-saccadic translational motion. While the fundamental process of insect optic flow has been known since the 1950's, so too has its dependence on contrast. The surrounding visual pathways used to overcome environmental dependencies are less well known. Previous work has shown promise for low-speed rotational motion estimation, but a gap remained in the estimation of translational motion, in particular the estimation of the time to impact. To consistently estimate the time to impact during inter-saccadic translatory motion, the fundamental limitation of contrast dependence must be overcome. By adapting an elaborated rotational velocity estimator from literature to work for translational motion, this paper proposes a novel algorithm for overcoming the contrast dependence of time to impact estimation using nonlinear spatio-temporal feedforward filtering. By applying bioinspired processes, approximately 15 points per decade of statistical discrimination were achieved when estimating the time to impact to a target across 360 background, distance, and velocity combinations: a 17-fold increase over the fundamental process. These results show the contrast dependence of time to impact estimation can be overcome in a biologically plausible manner. This, combined with previous results for low-speed rotational motion estimation, allows for contrast invariant computational models designed on the principles found in the biological visual system, paving the way for future visually guided systems. [ABSTRACT FROM AUTHOR]

Information about time-dependent sensory stimuli is encoded in the activity of neural populations; distinct aspects of the stimulus are read out by different types of neurons: while overall information is perceived by integrator cells, so-called coincidence detector cells are driven mainly by the synchronous activity in the population that encodes predominantly high-frequency content of the input signal (high-pass information filtering). Previously, an analytically accessible statistic called the partial synchronous output was introduced as a proxy for the coincidence detector cell's output in order to approximate its information transmission. In the first part of the current paper, we compare the information filtering properties (specifically, the coherence function) of this proxy to those of a simple coincidence detector neuron. We show that the latter's coherence function can indeed be well-approximated by the partial synchronous output with a time scale and threshold criterion that are related approximately linearly to the membrane time constant and firing threshold of the coincidence detector cell. In the second part of the paper, we propose an alternative theory for the spectral measures (including the coherence) of the coincidence detector cell that combines linear-response theory for shot-noise driven integrate-and-fire neurons with a novel perturbation ansatz for the spectra of spike-trains driven by colored noise. We demonstrate how the variability of the synaptic weights for connections from the population to the coincidence detector can shape the information transmission of the entire two-stage system. [ABSTRACT FROM AUTHOR]

This hybrid of review and personal essay argues that models of visual construction are essential to extend spatial navigation models to models that link episodic memory and imagination. The starting point is the TAM–WG model, combining the Taxon Affordance Model and the World Graph model of spatial navigation. The key here is to reject approaches in which memory is restricted to unanalyzed views from familiar places, and their later recall. Instead, we will seek mechanisms for imagining truly novel scenes and episodes. We thus introduce a specific variant of schema theory and VISIONS, a cooperative computation model of visual scene understanding in which a scene is represented by an assemblage of schema instances with links to lower-level "patches" of relevant visual data. We sketch a new conceptual framework for future modeling, Visual Integration of Diverse Multi-Modal Aspects, by extending VISIONS from static scenes to episodes combining agents, actions and objects and assess its relevance to both navigation and episodic memory. We can then analyze imagination as a constructive process that combines aspects of memories of prior episodes along with other schemas and adjusts them into a coherent whole which, through expectations associated with diverse episodes and schemas, may yield the linkage of episodes that constitutes a dream or a narrative. The result is IBSEN, a conceptual model of Imagination in Brain Systems for Episodes and Navigation. The essay closes by analyzing other papers in this Special Issue to assess to what extent their results relate to the research proposed here. [ABSTRACT FROM AUTHOR]

If we are ever to move beyond the study of isolated special cases in theoretical neuroscience, we need to develop more general theories of neural circuits over a given neural model. The present paper considers this challenge in the context of continuous-time recurrent neural networks (CTRNNs), a simple but dynamically universal model that has been widely utilized in both computational neuroscience and neural networks. Here, we extend previous work on the parameter space structure of codimension-1 local bifurcations in CTRNNs to include codimension-2 local bifurcation manifolds. Specifically, we derive the necessary conditions for all generic local codimension-2 bifurcations for general CTRNNs, specialize these conditions to circuits containing from one to four neurons, illustrate in full detail the application of these conditions to example circuits, derive closed-form expressions for these bifurcation manifolds where possible, and demonstrate how this analysis allows us to find and trace several global codimension-1 bifurcation manifolds that originate from the codimension-2 bifurcations. [ABSTRACT FROM AUTHOR]

In Bourlard and Kamp (Biol Cybern 59(4):291–294, 1998), it was theoretically proven that autoencoders (AE) with single hidden layer (previously called "auto-associative multilayer perceptrons") were, in the best case, implementing singular value decomposition (SVD) Golub and Reinsch (Linear algebra, Singular value decomposition and least squares solutions, pp 134–151. Springer, 1971), equivalent to principal component analysis (PCA) Hotelling (Educ Psychol 24(6/7):417–441, 1993); Jolliffe (Principal component analysis, springer series in statistics, 2nd edn. Springer, New York). That is, AE are able to derive the eigenvalues that represent the amount of variance covered by each component even with the presence of the nonlinear function (sigmoid-like, or any other nonlinear functions) present on their hidden units. Today, with the renewed interest in "deep neural networks" (DNN), multiple types of (deep) AE are being investigated as an alternative to manifold learning Cayton (Univ California San Diego Tech Rep 12(1–17):1, 2005) for conducting nonlinear feature extraction or fusion, each with its own specific (expected) properties. Many of those AE are currently being developed as powerful, nonlinear encoder–decoder models, or used to generate reduced and discriminant feature sets that are more amenable to different modeling and classification tasks. In this paper, we start by recalling and further clarifying the main conclusions of Bourlard and Kamp (Biol Cybern 59(4):291–294, 1998), supporting them by extensive empirical evidences, which were not possible to be provided previously (in 1988), due to the dataset and processing limitations. Upon full understanding of the underlying mechanisms, we show that it remains hard (although feasible) to go beyond the state-of-the-art PCA/SVD techniques for auto-association. Finally, we present a brief overview on different autoencoder models that are mainly in use today and discuss their rationale, relations and application areas. [ABSTRACT FROM AUTHOR]

In this paper a model of neural network underlying arithmetic prblem-solving is described. Memory models of procedural memory, semantic memory, and working memory, which are necessary to represent the process of the problem-solving, are constructed within a framework of a model of associative processor, HASP, proposed by one of the authors (Hirai 1983). Performance of the model has been simulated on a digital computer. By memorizing primitive knowledge of addition of two digits such as 6+8=14 in the semantic memory and procedural knowledge for the control of the process of adding in the procedural memory, the model can perform addition of multiple numbers with multiple digits. By making explicit serial associations between consecutive procedural steps, the performance of the model can be impooved, because a current procedural step primes the next one. In addition, if a preceding procedural step is a subset of the next one, merging between the two steps occurs. The performance can be improved about 20% by these priming and merging. By memorizing incorrect procedures, the model can generate four kinds of bugs of addition which were observed in children's performance. [ABSTRACT FROM AUTHOR]

The paper describes a new method of analytical description of single muscle fibre action potential suitable for computer simulation. The description introduced is a product of quadratic and gaussian functions. The coefficients of the function are determined on the basis of dependences of SFAP parameters on electrode-to-fibre distance combined from the transformed results of electrophysiological experiments and modelling. The description is being used for computer simulation of motor unit action potential which results will be described in forthcoming papers. [ABSTRACT FROM AUTHOR]

In this paper, we consider a noisy network of nonlinear systems in the sense that each system is driven by two sources of state-dependent noise: (1) an intrinsic noise that can be generated by the environment or any internal fluctuations and (2) a noisy coupling which is generated by interactions with other systems. Our goal is to understand the effect of noise and coupling on synchronization behaviors of such networks. First, we assume that all the systems are driven by a common noise and show how a common noise can be detrimental or beneficial for network synchronization behavior. Then, we assume that the systems are driven by independent noise and study network approximate synchronization behavior. We numerically illustrate our results using the example of coupled Van der Pol oscillators. [ABSTRACT FROM AUTHOR]

Stochastic oscillations can be characterized by a corresponding point process; this is a common practice in computational neuroscience, where oscillations of the membrane voltage under the influence of noise are often analyzed in terms of the interspike interval statistics, specifically the distribution and correlation of intervals between subsequent threshold-crossing times. More generally, crossing times and the corresponding interval sequences can be introduced for different kinds of stochastic oscillators that have been used to model variability of rhythmic activity in biological systems. In this paper we show that if we use the so-called mean-return-time (MRT) phase isochrons (introduced by Schwabedal and Pikovsky) to count the cycles of a stochastic oscillator with Markovian dynamics, the interphase interval sequence does not show any linear correlations, i.e., the corresponding sequence of passage times forms approximately a renewal point process. We first outline the general mathematical argument for this finding and illustrate it numerically for three models of increasing complexity: (i) the isotropic Guckenheimer–Schwabedal–Pikovsky oscillator that displays positive interspike interval (ISI) correlations if rotations are counted by passing the spoke of a wheel; (ii) the adaptive leaky integrate-and-fire model with white Gaussian noise that shows negative interspike interval correlations when spikes are counted in the usual way by the passage of a voltage threshold; (iii) a Hodgkin–Huxley model with channel noise (in the diffusion approximation represented by Gaussian noise) that exhibits weak but statistically significant interspike interval correlations, again for spikes counted when passing a voltage threshold. For all these models, linear correlations between intervals vanish when we count rotations by the passage of an MRT isochron. We finally discuss that the removal of interval correlations does not change the long-term variability and its effect on information transmission, especially in the neural context. [ABSTRACT FROM AUTHOR]

Motion camouflage is a stealth behaviour by which an insect can appear stationary at a fixed point while approaching or escaping another moving insect. Although several approaches have been proposed to generate motion camouflage in simulated and real agents, the exact mechanisms insects use to perform this complex behaviour are not well understood, especially considering their limited perceptual and computational resources. This paper sheds light on the possible underlying control mechanisms insect might use to generate motion camouflage, by training and analysing a series of motion camouflage controllers using reinforcement learning. We first investigate through simulations the most relevant information available to the insect that can be used to perform motion camouflage and analyse the learnt controllers. The results of this analysis drove us to hypothesise two simpler control mechanisms which, we show, can also generate motion camouflage. The proposed controllers are an extension of proportional navigation, another interception technique found in nature, and therefore, both animal behaviours seem to be connected. Motion camouflage can lead, among others, to novel approaches to closely observe animals in the wild, record sports events or gather information in military operations without being noticed. [ABSTRACT FROM AUTHOR]

Brain–machine interface (BMI) can realize information interaction between the brain and external devices, and yet the control accuracy is limited by the change of electroencephalogram signals. The introduction of auxiliary controller can overcome the above problems, but the performance of different auxiliary controllers is quite different. Hence, in this paper, we comprehensively compare and analyze the performance of different auxiliary controllers to provide a theoretical basis for designing BMI system. The main work includes: (1) designing four kinds of auxiliary controllers based on simultaneous perturbation stochastic approximation-function approximator (SPSA-FA), iterative feedback tuning-PID (IFT-PID), model predictive control (MPC) and model-free control (MFC); (2) based on the model of improved single-joint information transmission, constructing the closed-loop BMI systems with the decoder-based Wiener filter; and (3) comparing their performance in the constructed closed-loop BMI systems for dynamic motion restoration. The results show that the order of tracking accuracy is MPC, IFT-PID, SPSA-FA, MFC, and the order of time consumed is opposite. A good control effectiveness is achieved at the expense of time, so a suitable auxiliary controller should be selected according to the actual requirements. [ABSTRACT FROM AUTHOR]

The article discusses various reports published within the issue, including one by Van Geit and colleagues on the current techniques for automated optimization of neuron models and another by Druckmann and colleagues on the importance of using the correct error function to evaluate and optimize single neuron models.

While the unique hunting behavior of archerfish has received considerable scientific attention, the specific social cues that govern behaviors like intraspecific kleptoparasitism in the species are less understood. This paper asks whether the use of a robotic facsimile representing an archerfish can elicit a social response if it approximates an archerfish's appearance, along with key features of its hunting behavior. We found that the fish respond to the robot when it hunted, as indicated by decreasing distances between the robot and fish (and among the fish) during the robot's hunting behavior sequence, as well as higher net transfer entropy when the robot was hunting. These effects were present even when the robot's "hunt" was unproductive and did not result in food. The temporal pattern of fish approach to the robot and each other indicated that the segment of robot hunting behavior proximal to the robotic facsimile shot elicited fish behavior initially. However, earlier cues in the robot's hunting sequence became important following more experience with a food contingency. This indicates that further studies could use a robotic facsimile to conduct a detailed stimulus analysis, changing aspects of the robot's appearance and behavior to uncover the basic mechanisms of information transfer among individuals in a social hunting scenario. [ABSTRACT FROM AUTHOR]

This paper introduces an active inference formulation of planning and navigation. It illustrates how the exploitation-exploration dilemma is dissolved by acting to minimise uncertainty (i.e. expected surprise or free energy). We use simulations of a maze problem to illustrate how agents can solve quite complicated problems using context sensitive prior preferences to form subgoals. Our focus is on how epistemic behaviour—driven by novelty and the imperative to reduce uncertainty about the world—contextualises pragmatic or goal-directed behaviour. Using simulations, we illustrate the underlying process theory with synthetic behavioural and electrophysiological responses during exploration of a maze and subsequent navigation to a target location. An interesting phenomenon that emerged from the simulations was a putative distinction between ‘place cells’—that fire when a subgoal is reached—and ‘path cells’—that fire until a subgoal is reached. [ABSTRACT FROM AUTHOR]

In several papers published in Biological Cybernetics in the 1980s and 1990s, Kawato and colleagues proposed computational models explaining how internal models are acquired in the cerebellum. These models were later supported by neurophysiological experiments using monkeys and neuroimaging experiments involving humans. These early studies influenced neuroscience from basic, sensory-motor control to higher cognitive functions. One of the most perplexing enigmas related to internal models is to understand the neural mechanisms that enable animals to learn large-dimensional problems with so few trials. Consciousness and metacognition—the ability to monitor one's own thoughts, may be part of the solution to this enigma. Based on literature reviews of the past 20 years, here we propose a computational neuroscience model of metacognition. The model comprises a modular hierarchical reinforcement-learning architecture of parallel and layered, generative-inverse model pairs. In the prefrontal cortex, a distributed executive network called the "cognitive reality monitoring network" (CRMN) orchestrates conscious involvement of generative-inverse model pairs in perception and action. Based on mismatches between computations by generative and inverse models, as well as reward prediction errors, CRMN computes a "responsibility signal" that gates selection and learning of pairs in perception, action, and reinforcement learning. A high responsibility signal is given to the pairs that best capture the external world, that are competent in movements (small mismatch), and that are capable of reinforcement learning (small reward-prediction error). CRMN selects pairs with higher responsibility signals as objects of metacognition, and consciousness is determined by the entropy of responsibility signals across all pairs. This model could lead to new-generation AI, which exhibits metacognition, consciousness, dimension reduction, selection of modules and corresponding representations, and learning from small samples. It may also lead to the development of a new scientific paradigm that enables the causal study of consciousness by combining CRMN and decoded neurofeedback. [ABSTRACT FROM AUTHOR]