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 system? To a great extent, our highly-skilled motor responses are a result of a reactive feedback system, originating in the brain-stem and spinal cord, combined with a feed-forward anticipatory system, that is adaptively fine-tuned by sensory experience and originates in the cerebellum. Based on that interaction we design the counterfactual predictive control (CFPC) architecture, an anticipatory adaptive motor control scheme in which a feed-forward module, based on the cerebellum, steers an error feedback controller with counterfactual error signals. Those are signals that trigger reactions as actual errors would, but that do not code for any current of forthcoming errors. In order to determine the optimal learning strategy, we derive a novel learning rule for the feed-forward module that involves an eligibility trace and operates at the synaptic level. In particular, our eligibility trace provides a mechanism beyond co-incidence detection in that it convolves a history of prior synaptic inputs with error signals. In the context of cerebellar physiology, this solution implies that Purkinje cell synapses should generate eligibility traces using a forward model of the system being controlled. From an engineering perspective, CFPC provides a general-purpose anticipatory control architecture equipped with a learning rule that exploits the full dynamics of the closed-loop system.

The brain solves the credit assignment problem remarkably well. For credit to be assigned across neural networks they must, in principle, wait for specific neural computations to finish. How the brain deals with this inherent locking problem has remained unclear. Deep learning methods suffer from similar locking constraints both on the forward and feedback phase. Recently, decoupled neural interfaces (DNIs) were introduced as a solution to the forward and feedback locking problems in deep networks.Here we propose that a specialised brain region, the cerebellum, helps the cerebral cortex solve similar locking problems akin to DNIs. To demonstrate the potential of this framework we introduce a systems-level model in which a recurrent cortical network receives online temporal feedback predictions from a cerebellar module. We test this cortico-cerebellar recurrent neural network (ccRNN) model on a number of sensorimotor (line and digit drawing) and cognitive tasks (pattern recognition and caption generation) that have been shown to be cerebellar-dependent. In all tasks, we observe that ccRNNs facilitates learning while reducing ataxia-like behaviours, consistent with classical experimental observations. Moreover, our model also explains recent behavioural and neuronal observations while making several testable predictions across multiple levels.Overall, our work offers a novel perspective on the cerebellum as a brain-wide decoupling machine for efficient credit assignment and opens a new avenue between deep learning and neuroscience.

Recent advances in general-purpose AI systems with attention-based transformers offer a potential window into how the neocortex and cerebellum, despite their relatively uniform circuit architectures, give rise to diverse functions and, ultimately, to human intelligence. This Perspective provides a cross-domain comparison between the brain and AI that goes beyond the traditional focus on visual processing, adopting the emerging perspecive of world-model-based computation. Here, we identify shared computational mechanisms in the attention-based neocortex and the non-attentional cerebellum: both predict future world events from past inputs and construct internal world models through prediction-error learning. These predictive world models are repurposed for seemingly distinct functions -- understanding in sensory processing and generation in motor processing -- enabling the brain to achieve multi-domain capabilities and human-like adaptive intelligence. Notably, attention-based AI has independently converged on a similar learning paradigm and world-model-based computation. We conclude that these shared mechanisms in both biological and artificial systems constitute a core computational foundation for realizing diverse functions including high-level intelligence, despite their relatively uniform circuit structures. Our theoretical insights bridge neuroscience and AI, advancing our understanding of the computational essence of intelligence.

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 system? To a great extent, our highly-skilled motor responses are a result of a reactive feedback system, originating in the brain-stem and spinal cord, combined with a feed-forward anticipatory system, that is adaptively fine-tuned by sensory experience and originates in the cerebellum. Based on that interaction we design the counterfactual predictive control (CFPC) architecture, an anticipatory adaptive motor control scheme in which a feed-forward module, based on the cerebellum, steers an error feedback controller with counterfactual error signals. Those are signals that trigger reactions as actual errors would, but that do not code for any current of forthcoming errors. In order to determine the optimal learning strategy, we derive a novel learning rule for the feed-forward module that involves an eligibility trace and operates at the synaptic level. In particular, our eligibility trace provides a mechanism beyond co-incidence detection in that it convolves a history of prior synaptic inputs with error signals. In the context of cerebellar physiology, this solution implies that Purkinje cell synapses should generate eligibility traces using a forward model of the system being controlled. From an engineering perspective, CFPC provides a general-purpose anticipatory control architecture equipped with a learning rule that exploits the full dynamics of the closed-loop system.

However, even if a plant has negligible transmission delays, it may still have sizable inertial latencies. For example, if we apply a force to a visco-elastic plant, its peak velocity will be achieved after a certain delay; i.e. the velocity itself will lag the force.

Now, however, we seek an analogy to the inverse model hypothesis. "mental model" (controlled object) [36]. In both schemes, the cerebellum receives initial states upstream (instructions) and learns to mimic the forward computations which then take place in the neocortex. The properties of the forward model of the cerebellum can be set against those of backward DNI (blue); similarly, the properties of the inverse model of the cerebellum can be set against those of forward DNI (red). We split the original input into truncations as follows.

The emergence of foundation models in neuroimaging is driven by the increasing availability of large-scale and heterogeneous brain imaging datasets. Recent advances in self-supervised learning, particularly reconstruction-based objectives, have demonstrated strong potential for pretraining models that generalize effectively across diverse downstream functional MRI (fMRI) tasks. In this study, we explore region-aware reconstruction strategies for a foundation model in resting-state fMRI, moving beyond approaches that rely on random region masking. Specifically, we introduce an ROI-guided masking strategy using the Automated Anatomical Labelling Atlas (AAL3), applied directly to full 4D fMRI volumes to selectively mask semantically coherent brain regions during self-supervised pretraining. Using the ADHD-200 dataset comprising 973 subjects with resting-state fMRI scans, we show that our method achieves a 4.23% improvement in classification accuracy for distinguishing healthy controls from individuals diagnosed with ADHD, compared to conventional random masking. Region-level attribution analysis reveals that brain volumes within the limbic region and cerebellum contribute most significantly to reconstruction fidelity and model representation. Our results demonstrate that masking anatomical regions during model pretraining not only enhances interpretability but also yields more robust and discriminative representations. In future work, we plan to extend this approach by evaluating it on additional neuroimaging datasets, and developing new loss functions explicitly derived from region-aware reconstruction objectives. These directions aim to further improve the robustness and interpretability of foundation models for functional neuroimaging.

Lay summaries for scientific documents typically include explanations to help readers grasp sophisticated concepts or arguments. However, current automatic summarization methods do not explicitly model explanations, which makes it difficult to align the proportion of explanatory content with human-written summaries. In this paper, we present a plan-based approach that leverages discourse frameworks to organize summary generation and guide explanatory sentences by prompting responses to the plan. Specifically, we propose two discourse-driven planning strategies, where the plan is conditioned as part of the input or part of the output prefix, respectively. Empirical experiments on three lay summarization datasets show that our approach outperforms existing state-of-the-art methods in terms of summary quality, and it enhances model robustness, controllability, and mitigates hallucination.

How do distributed neural circuits drive purposeful movements from the complex musculoskeletal system? This characterization is critical towards not just furthering our understanding of the generation of movement, but, importantly, guiding us towards therapeutic targets for diseases affecting motor control. The neural processes leading to movements have been relatively well posited and understood due to the quantitative nature of the behavioral outputs involved. Classic approaches have largely focused on optimization principles, including limb control, to achieve human-like behavioral trajectories. These largely theoretical models of sensorimotor control can recapitulate observed movement trajectories by hypothesizing the presence of a controller guiding the complex movements. However, these models cannot predict how neuronal populations in each brain region affects the resulting movement and vice-versa. On the other hand, breakneck advances in hardware techniques have led to vast improvements in our ability to record large-scale multi-regional neural data. These recordings have enabled dimensionality reduction and modeling techniques to elucidate the structure in high-dimensional neural activity during different conditions, and relate the neural activity directly to kinematic outcomes. However, these data-driven models typically do not consider the biophysical underpinnings of the musculoskeletal system, and thus fail to elucidate the computational role of neural activity in driving the musculoskeletal system such that the body reaches a desired state.