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The cerebellum is a crucial brain structure in enabling precise motor control in animals. Recent advances suggest that the timing of the plasticity rule of Purkinje cells, the main cells of the cerebellum, is matched to behavioral function. Simultaneously, counter-factual predictive control (CFPC), a cerebellar-based control scheme, has shown that the optimal rule for learning feed-forward action...
This article presents a model of the control of hand movements learned from human imprecise feedback. The setup consists of an iCub humanoid robot able to paint with a pencil on an interactive display. It learns to avoid an abstract boundary, which is drawn on the table and that the robot can perceive. Before learning, the robot does not know that it has to paint only inside the boundary. This is...
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