The paper presents a cerebellum-inspired control framework that addresses robust control under delayed sensory feedback. By combining multiplexed predictive representations with internal feedback, the model jointly encodes kinematic variables and task-relevant error signals, enabling accurate online correction despite delays. Incorporating feedback within the cerebellar loop also accelerates adaptation, reducing learning time by an order of magnitude.
arXiv:2609.17042v1 Announce Type: new Abstract: Learning flexible motor primitives is a hallmark of skilled motor control. Recent neuroscience theory proposes that motor primitives may be implemented...
arXiv:2607. 24023v1 Announce Type: new Abstract: Brain-Machine Interfaces (BMIs) provide a direct communication pathway between the brain and external devices, enabling humans to control assistive and robotic technologies, with potential applications in rehabilitation, human motor augmentation, and human-centered robotics.
LM‑X is a generalist vision‑language‑action policy that augments action prediction with three online, explicitly supervised signals: return‑to‑go (RTG) for task progress, event‑to‑go (ETG) for the next semantic transition, and heteroscedastic action flow for local reliability. By conditioning action generation on these signals, LM‑X embeds explainability directly into control rather than as a post‑hoc explanation. After a 20‑day pretraining run on 64 GPUs, LM‑X outperforms an action‑only backbone by 16.0 points and a single‑head variant by 10.8 points, and achieves 74.1 % success on 50 RoboTwin2.0 tasks and 68.6 % on seven real‑robot tasks, surpassing the GR00T N1.7 baseline.
arXiv:2606. 00269v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models can be steered at test time by intervening on semantically meaningful internal directions, but existing methods use a fixed steering coefficient, effectively operating in open loop.
arXiv:2609.08070v1 Announce Type: cross Abstract: The brain uses discrete spikes for dynamic computation, yet, how neural microcircuits (NMCs) solve temporal credit assignment using local spike timin...
arXiv:2607. 24806v1 Announce Type: cross Abstract: Error-related potentials (ErrPs) are widely studied neural signatures associated with error processing in human-machine interaction.
arXiv:2608. 04358v1 Announce Type: new Abstract: Continual learning (CL) requires models to learn tasks sequentially, yet deep neural networks often suffer from plasticity loss and poor knowledge transfer, which can impede their long-term adaptability.
CereVLA is a cerebellum-inspired framework that enhances vision‑language‑action (VLA) policies by adding lightweight residual refinement and predictive consequence evaluation to frozen VLA execution. It generates corrective actions via flow‑based residual refinement, then assesses their short‑ and interval‑horizon impacts using a recurrent state‑space model and a history‑aware classifier, suppressing unfavorable corrections with a lightweight governor. Experiments on LIBERO‑10, LIBERO‑GOAL, and SO‑101 show that CereVLA improves task success rates and reduces control steps compared to state‑of‑the‑art baselines.
VCMM: Variance-Calibrated Momentum for Multimodal Learning proposes a new optimizer that adapts momentum based on modality-specific gradient dynamics. It estimates minibatch noise and temporal drift online, using a Kalman-inspired controller to set modality-specific momentum and applies bias correction for the first moment. Experiments on four multimodal benchmarks show consistent improvements with modest training overhead.
arXiv:2507. 14056v3 Announce Type: replace-cross Abstract: Recent work in continual learning has highlighted the stability gap -- a temporary performance drop on previously learned tasks when new ones are introduced.
arXiv:2608. 04389v1 Announce Type: new Abstract: Decoding continuous motor trajectories from neural activity is essential for developing practical brain-computer interfaces (BCIs).
arXiv:2607. 11530v1 Announce Type: new Abstract: Decoding continuous three-dimensional (3D) motor imagery (MI) using non-invasive electroencephalography (EEG)-based brain--computer interfaces (BCIs) remains challenging due to signal variability and residual decoding errors.