Model Predictive Control on the Neural Manifold

Abstract

Neural manifolds are an attractive theoretical framework for characterizing the complex behaviors of neural populations. However, many of the tools for identifying these low-dimensional subspaces are correlational and provide limited insight into the underlying dynamics. The ability to precisely control the latent activity of a circuit would allow researchers to investigate the structure and function of neural manifolds. We simulate controlling the latent dynamics of a neural population using closed-loop, dynamically generated sensory inputs. Using a spiking neural network (SNN) as a model of a neural circuit, we find low-dimensional representations of both the network activity (the neural manifold) and a set of salient visual stimuli. The fields of classical and optimal control offer a range of methods to choose from for controlling dynamics on the neural manifold, which differ in performance, computational cost, and ease of implementation. Here, we focus on two commonly used control methods: proportional-integral-derivative (PID) control and model predictive control (MPC). PID is a computationally lightweight controller that is simple to implement. In contrast, MPC is a model-based, anticipatory controller with a much higher computational cost and engineering overhead. We evaluate both methods on trajectory-following tasks in latent space, under partial observability and in the presence of unknown noise. While both controllers in some cases were able to successfully control the latent dynamics on the neural manifold, MPC consistently produced more accurate control and required less hyperparameter tuning. These results demonstrate how MPC can be applied on the neural manifold using data-driven dynamics models and provide a framework to experimentally test for causal relationships between manifold dynamics and external stimuli.