Embodied sensorimotor control: computational modeling of the neural control of movement
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Abstract (arXiv)
We review how sensorimotor control is dictated by interacting neural populations, optimal feedback mechanisms, and the biomechanics of bodies. First, we outline the distributed anatomical loops that shuttle sensorimotor signals between cortex, subcortical regions, and spinal cord. We then summarize evidence that neural population activity occupies low-dimensional, dynamically evolving manifolds during planning and execution of movements. Next, we summarize literature explaining motor behavior through the lens of optimal control theory, which clarifies the role of internal models and feedback during motor control. Finally, recent studies on embodied sensorimotor control address gaps within each framework by aiming to elucidate neural population activity through the explicit control of musculoskeletal dynamics. We close by discussing open problems and opportunities: multi-tasking and cognitively rich behavior, multi-regional circuit models, and the level of anatomical detail needed in body and network models. Together, this review and recent advances point towards reaching an integrative account of the neural control of movement.
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References · 12
- 2021Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulationcited by 407
- 2022MyoSuite -- A contact-rich simulation suite for musculoskeletal motor controlcited by 80
- 2017Learning human behaviors from motion capture by adversarial imitationcited by 77
- 2019Universality and individuality in neural dynamics across large populations of recurrent networkscited by 61
- 2016Learning and Transfer of Modulated Locomotor Controllerscited by 59
- 2022Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviorscited by 30
- 2022DEP-RL: Embodied Exploration for Reinforcement Learning in Overactuated and Musculoskeletal Systemscited by 29
- 2019Deep neuroethology of a virtual rodentcited by 23
- 2014Demixed principal component analysis of population activity in higher cortical areas reveals independent representation of task parameterscited by 15
- 2021OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotioncited by 10
- 2023Predictive auxiliary objectives in deep RL mimic learning in the braincited by 7
- 2025KINESIS: Motion Imitation for Human Musculoskeletal Locomotioncited by 7
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