From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning

摘要

In motor neuroscience, artificial recurrent neural networks models often complement animal studies. However, most modeling efforts are limited to data-fitting, and the few that examine virtual embodied agents in a reinforcement learning context, do not draw direct comparisons to their biological counterparts. Our study addressing this gap, by uncovering structured neural activity of a virtual robot performing legged locomotion that directly support experimental findings of primate walking and cycling. We find that embodied agents trained to walk exhibit smooth dynamics that avoid tangling -- or opposing neural trajectories in neighboring neural space -- a core principle in computational neuroscience. Specifically, across a wide suite of gaits, the agent displays neural trajectories in the recurrent layers are less tangled than those in the input-driven actuation layers. To better interpret the neural separation of these elliptical-shaped trajectories, we identify speed axes that maximizes variance of mean activity across different forward, lateral, and rotational speed conditions.