Here, we narrow this gap by developing aneffectivemethod fortraining acanonical model ofcortical neural circuits, the stabilized supralinear network (SSN), that in previous work had to beconstructed manually ortrainedwithundueconstraints.

How neuronal circuits achieve credit assignment remains a central unsolved question in systems neuroscience.

How neuronal circuits achieve credit assignment remains a central unsolved question in systems neuroscience.

We thank the reviewer for the thorough review. We agree that our discussion of Seung et al. was not However, our contributions go beyond Seung et al.'s work in We kindly ask the reviewer to reconsider the following contributions. Such applications were not available in Seung et al. We indeed applied the results in Seung et al. as a tool to provide necessary conditions of convergence of the dynamics, Reviewer 2: We thank the reviewer for the enthusiastic support! We will provide details in the appendix. Minimax objectives: We thank the author for the inspiring question.

However, these models were not capable of actually achieving the brain's performance on its wide range of complex computations.

The development of artificial intelligence towards real-time interaction with the environment is a key aspect of embodied intelligence and robotics. Inverse dynamics is a fundamental robotics problem, which maps from joint space to torque space of robotic systems. Traditional methods for solving it rely on direct physical modeling of robots which is difficult or even impossible due to nonlinearity and external disturbance. Recently, data-based model-learning algorithms are adopted to address this issue. However, they often require manual parameter tuning and high computational costs. Neuromorphic computing is inherently suitable to process spatiotemporal features in robot motion control at extremely low costs. However, current research is still in its infancy: existing works control only low-degree-of-freedom systems and lack performance quantification and comparison. In this paper, we propose a neuromorphic control framework to control 7 degree-of-freedom robotic manipulators. We use Spiking Neural Network to leverage the spatiotemporal continuity of the motion data to improve control accuracy, and eliminate manual parameters tuning. We validated the algorithm on two robotic platforms, which reduces torque prediction error by at least 60% and performs a target position tracking task successfully. This work advances embodied neuromorphic control by one step forward from proof of concept to applications in complex real-world tasks.

Efficient spatial navigation is a hallmark of the mammalian brain, inspiring the development of neuromorphic systems that mimic biological principles. Despite progress, implementing key operations like back-tracing and handling ambiguity in bio-inspired spiking neural networks remains an open challenge. This work proposes a mechanism for activity back-tracing in arbitrary, uni-directional spiking neuron graphs. We extend the existing replay mechanism of the spiking hierarchical temporal memory (S-HTM) by our spike timing-dependent threshold adaptation (STDTA), which enables us to perform path planning in networks of spiking neurons. We further present an ambiguity dependent threshold adaptation (ADTA) for identifying places in an environment with less ambiguity, enhancing the localization estimate of an agent. Combined, these methods enable efficient identification of the shortest path to an unambiguous target. Our experiments show that a network trained on sequences reliably computes shortest paths with fewer replays than the steps required to reach the target. We further show that we can identify places with reduced ambiguity in multiple, similar environments. These contributions advance the practical application of biologically inspired sequential learning algorithms like the S-HTM towards neuromorphic localization and navigation.

In this brief and speculative commentary, we explore ideas inspired by neural networks in machine learning, proposing that a simple neural XOR motif, involving both excitatory and inhibitory connections, may provide the basis for a relevant mode of plasticity in neural circuits of living organisms, with homeostasis as the sole guiding principle. This XOR motif simply signals the discrepancy between incoming signals and reference signals, thereby providing a basis for a loss function in learning neural circuits, and at the same time regulating homeostasis by halting the propagation of these incoming signals. The core motif uses a 4:1 ratio of excitatory to inhibitory neurons, and supports broader neural patterns such as the well-known 'winner takes all' (WTA) mechanism. We examined the prevalence of the XOR motif in the published connectomes of various organisms with increasing complexity, and found that it ranges from tens (in C. elegans) to millions (in several Drosophila neuropils) and more than tens of millions (in mouse V1 visual cortex). If validated, our hypothesis identifies two of the three key components in analogy to machine learning models: the architecture and the loss function. And we propose that a relevant type of biological neural plasticity is simply driven by a basic control or regulatory system, which has persisted and adapted despite the increasing complexity of organisms throughout evolution.