Diversity-enabled sweet spots in layered architectures and speed–accuracy trade-offs in sensorimotor control

Nakahira，Yorie1,2; Liu，Quanying2,3; Sejnowski，Terrence J.4,5; Doyle，John C.2

2021-06-01

10.1073/pnas.1916367118

PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA   影响因子和分区

0027-8424

1091-6490

Nervous systems sense, communicate, compute, and actuate movement using distributed components with severe trade-offs in speed, accuracy, sparsity, noise, and saturation. Nevertheless, brains achieve remarkably fast, accurate, and robust control performance due to a highly effective layered control architecture. Here, we introduce a driving task to study how a mountain biker mitigates the immediate disturbance of trail bumps and responds to changes in trail direction. We manipulated the time delays and accuracy of the control input from the wheel as a surrogate for manipulating the characteristics of neurons in the control loop. The observed speed–accuracy trade-offs motivated a theoretical framework consisting of two layers of control loops—a fast, but inaccurate, reflexive layer that corrects for bumps and a slow, but accurate, planning layer that computes the trajectory to follow—each with components having diverse speeds and accuracies within each physical level, such as nerve bundles containing axons with a wide range of sizes. Our model explains why the errors from two control loops are additive and shows how the errors in each control loop can be decomposed into the errors caused by the limited speeds and accuracies of the components. These results demonstrate that an appropriate diversity in the properties of neurons across layers helps to create “diversity-enabled sweet spots,” so that both fast and accurate control is achieved using slow or inaccurate components.

Distributed control Layered architecture Sensorimotor control Speed–accuracy trade-off Vestibulo-ocular reflex

SCI

英语

NI期刊

其他

WOS:000659461900016

BIOLOGY & BIOCHEMISTRY;CLINICAL MEDICINE;MULTIDISCIPLINARY;PLANT & ANIMAL SCIENCE;ENVIRONMENT/ECOLOGY;SOCIAL SCIENCES, GENERAL;MICROBIOLOGY;ECONOMICS BUSINESS;IMMUNOLOGY;MATERIALS SCIENCE;MATHEMATICS;SPACE SCIENCE;MOLECULAR BIOLOGY & GENETICS;PHARMACOLOGY & TOXICOLOGY;CHEMISTRY;PSYCHIATRY/PSYCHOLOGY;NEUROSCIENCE & BEHAVIOR;PHYSICS;GEOSCIENCES;AGRICULTURAL SCIENCES;ENGINEERING

2-s2.0-85107191235

Scopus

1.Electrical and Computer Engineering,College of Engineering,Carnegie Mellon University,Pittsburgh,15213,United States
2.Control and Dynamical Systems,Division of Engineering and Applied Science,California Institute of Technology,Pasadena,91125,United States
3.Department of Biomedical Engineering,Southern University of Science and Technology,Shenzhen,518055,China
4.Computational Neurobiology Laboratory,Salk Institute for Biological Studies,San Diego,92037,United States
5.Neurobiology Section,Division of Biological Sciences,University of California San Diego,San Diego,92093,United States

Nakahira，Yorie,Liu，Quanying,Sejnowski，Terrence J.,等. Diversity-enabled sweet spots in layered architectures and speed–accuracy trade-offs in sensorimotor control[J]. PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA,2021,118(22).

Nakahira，Yorie,Liu，Quanying,Sejnowski，Terrence J.,&Doyle，John C..(2021).Diversity-enabled sweet spots in layered architectures and speed–accuracy trade-offs in sensorimotor control.PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA,118(22).

Nakahira，Yorie,et al."Diversity-enabled sweet spots in layered architectures and speed–accuracy trade-offs in sensorimotor control".PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA 118.22(2021).