cnru FY2022 Annual Report 04

Figure 3. Test setting and an example of the result. (a) Online inference of latent states and action generation by a PID controller, with synaptic weights fixed. (b) Executive-level posterior distribution. (c) Association-level posterior and prior distributions. (d) Sensory-level posterior and prior distributions in exteroceptive and proprioceptive areas. (e) Prediction error (PE) and real sensations for exteroception and proprioception. For clarity, proprioception is represented as the 2-dimensional hand position, although the actual proprioception comprises 3-dimensional joint angles.