Controlled object Main model Outputfunk(hm) CB(hm) = hˆLfunk(hs,ds) CF(hs) Inputhmhmhs, dshs

There are no explicit equations for the cerebellum traditionally also has access to a desired state ds (in particular, one can consider this a and forward DNI, respectively; L denotes the loss function. In addition, the inverse model of the of a motor area and sensory area, respectively; CB,CF denotes the computation of backward DNI Notation is largely consistent with section 2 of the main text: hm,hs denotes the hidden activity properties of the inverse model of the cerebellum can be set against those of forward DNI (red). Controller Neocortex Main model Cerebellum Synthesiser Forward Model Backward DNIInverse Model Forward DNI be summarised in table S1. In general, the likeness in formulation between DNI and the cerebellar internal model hypothesis can backward DNI where the main model is an motor-associated RNN. In fact, it was recently suggested that the cerebellum out that though the temporal case of forward DNI was not originally considered in [5], there remain learns to mimic the forward computations which then take place in the neocortex.