Feedback control in the nervous system: from cells and circuits to behaviour
The nervous system is fundamentally a closed loop control device: the output of actions continually influences the internal state and subsequent actions. This is true at the single cell and even the molecular level, where “actions” take the form of signals that are fed back to achieve a variety of functions, including homeostasis, excitability and various kinds of multistability that allow switching and storage of memory. It is also true at the behavioural level, where an animal’s motor actions directly influence sensory input on short timescales, and higher level information about goals and intended actions are continually updated on the basis of current and past actions. Studying the brain in a closed loop setting requires a multidisciplinary approach, leveraging engineering and theory as well as advances in measuring and manipulating the nervous system. I will describe our recent attempts to achieve this fusion of approaches at multiple levels in the nervous system, from synaptic signalling to closed loop brain machine interfaces.
Credit Assignment in Neural Networks through Deep Feedback Control
The success of deep learning sparked interest in whether the brain learns by using similar techniques for assigning credit to each synaptic weight for its contribution to the network output. However, the majority of current attempts at biologically-plausible learning methods are either non-local in time, require highly specific connectivity motives, or have no clear link to any known mathematical optimization method. Here, we introduce Deep Feedback Control (DFC), a new learning method that uses a feedback controller to drive a deep neural network to match a desired output target and whose control signal can be used for credit assignment. The resulting learning rule is fully local in space and time and approximates Gauss-Newton optimization for a wide range of feedback connectivity patterns. To further underline its biological plausibility, we relate DFC to a multi-compartment model of cortical pyramidal neurons with a local voltage-dependent synaptic plasticity rule, consistent with recent theories of dendritic processing. By combining dynamical system theory with mathematical optimization theory, we provide a strong theoretical foundation for DFC that we corroborate with detailed results on toy experiments and standard computer-vision benchmarks.
Firing Rate Homeostasis in Neural Circuits: From basic principles to malfunctions
Maintaining average activity level within a set-point range constitutes a fundamental property of central neural circuits. Accumulated evidence suggests that firing rate distributions and their means represent physiological variables regulated by homeostatic systems during sleep-wake cycle in central neural circuits. While intracellular Ca2+ has long been hypothesized as a feedback control signal, the source of Ca2+ and the molecular machinery enabling network-wide homeostatic responses remain largely unknown. I will present our hypothesis and framework on identifying homeostatic regulators in neural circuits. Next, I will show our new results on the role of mitochondria in the regulation of activity set-points and feedback responses. Finally, I will provide an evidence on state-dependent dysregulation of activity set-points at the presymptomatic disease stage in familial Alzheimer’s models.
Motor BMIs for probing sensorimotor control and parsing distributed learning
Brain-machine interfaces (BMIs) change how the brain sends and receives information from the environment, opening new ways to probe brain function. For instance, motor BMIs allow us to precisely define and manipulate the sensorimotor loop which has enabled new insights into motor control and learning. In this talk, I’ll first present an example study where sensory-motor loop manipulations in BMI allowed us to probe feed-forward and feedback control mechanisms in ways that are not possible in the natural motor system. This study shed light on sensorimotor processing, and in turn led to state-of-the-art neural interface performance. I’ll then survey recent work that highlights the likelihood that BMIs, much like natural motor learning, engages multiple distributed learning mechanisms that can be carefully interrogated with BMI.
Neural mechanisms of proprioception and motor control in Drosophila
Animals rely on an internal sense of body position and movement to effectively control motor behaviour. This sense of proprioception is mediated by diverse populations of internal mechanosensory neurons distributed throughout the body. My lab is trying to understand how proprioceptive stimuli are detected by sensory neurons, integrated and transformed in central circuits, and used to guide motor output. We approach these questions using genetic tools, in vivo two-photon imaging, and patch-clamp electrophysiology in Drosophila. We recently found that the axons of fly leg proprioceptors are organized into distinct functional projections that contain topographic representations of specific kinematic features: one group of axons encodes tibia position, another encodes movement direction, and a third encodes bidirectional movement and vibration frequency. Whole-cell recordings from downstream neurons reveal that position, movement, and directional information remain segregated in central circuits. These feedback signals then converge upon motor neurons that control leg muscles during walking. Overall, our findings reveal how a low-dimensional stimulus – the angle of a single leg joint – is encoded by a diverse population of mechanosensory neurons. Specific proprioceptive parameters are initially processed by parallel pathways, but are ultimately integrated to influence motor output. This architecture may help to maximize information transmission, processing speed, and robustness, which are critical for feedback control of the limbs during adaptive locomotion.