Supplementary Information 10 Relation between low-pass filter and lookahead In general, the prospective (or lookahead) voltage u

Eqn. 3 represents the solution for a stationary energy with respect to the prospective voltage To include synaptic filtering in our theory, we introduce an additional LPF as in Eqn. 10 with time The target signal for the top-layer pyramidal is determined by the training set. We include LE in the dendritic microcircuit by two simple modifications. Learning is split into two stages: first, the learning of the so-called self-predicting state and afterwards the learning of the actual task. The full set of parameters used in Figure 1 and Figure 1 can be found in Section 15.2 . Table 1 lists all the parameters we used for the experiments shown in Figure 1 .