@article {65259, title = {Cortical pattern generation during dexterous movement is input-driven.}, journal = {Nature}, volume = {577}, year = {2020}, month = {2020 Jan 16}, pages = {386-91}, abstract = {

The motor cortex controls skilled arm movement by sending temporal patterns of activity to lower motor centres. Local cortical dynamics are thought to shape these patterns throughout movement execution. External inputs have been implicated in setting the initial state of the motor cortex, but they may also have a pattern-generating role. Here we dissect the contribution of local dynamics and inputs to cortical pattern generation during a prehension task in mice. Perturbing cortex to an aberrant state prevented movement initiation, but after the perturbation was released, cortex either bypassed the normal initial state and immediately generated the pattern that controls reaching or failed to generate this pattern. The difference in these two outcomes was probably a result of external inputs. We directly investigated the role of inputs by inactivating the thalamus; this perturbed cortical activity and disrupted limb kinematics at any stage of the movement. Activation of thalamocortical axon terminals at different frequencies disrupted cortical activity and arm movement in a graded manner. Simultaneous recordings revealed that both thalamic activity and the current state of cortex predicted changes in cortical activity. Thus, the pattern generator for dexterous arm movement is distributed across multiple, strongly interacting brain regions.

}, issn = {1476-4687}, doi = {10.1038/s41586-019-1869-9}, author = {Sauerbrei, Britton A and Guo, Jian-Zhong and Cohen, Jeremy D and Mischiati, Matteo and Guo, Wendy and Kabra, Mayank and Verma, Nakul and Mensh, Brett and Branson, Kristin and Hantman, Adam W} } @article {49585, title = {Motor cortex is an input-driven dynamical system controlling dexterous movement.}, journal = {bioRxiv}, year = {2018}, month = {2018-12-14}, pages = {266320}, abstract = {

Skillful control of movement is central to our ability to sense and manipulate the world. A large body of work in nonhuman primates has demonstrated that motor cortex provides flexible, time-varying activity patterns that control the arm during reaching and grasping. Previous studies have suggested that these patterns are generated by strong local recurrent dynamics operating autonomously from inputs during movement execution. An alternative possibility is that motor cortex requires coordination with upstream brain regions throughout the entire movement in order to yield these patterns. Here, we developed an experimental preparation in the mouse to directly test these possibilities using optogenetics and electrophysiology during a skilled reach-to-grab-to-eat task. To validate this preparation, we first established that a specific, time-varying pattern of motor cortical activity was required to produce coordinated movement. Next, in order to disentangle the contribution of local recurrent motor cortical dynamics from external input, we optogenetically held the recurrent contribution constant, then observed how motor cortical activity recovered following the end of this perturbation. Both the neural responses and hand trajectory varied from trial to trial, and this variability reflected variability in external inputs. To directly probe the role of these inputs, we used optogenetics to perturb activity in the thalamus. Thalamic perturbation at the start of the trial prevented movement initiation, and perturbation at any stage of the movement prevented progression of the hand to the target; this demonstrates that input is required throughout the movement. By comparing motor cortical activity with and without thalamic perturbation, we were able to estimate the effects of external inputs on motor cortical population activity. Thus, unlike pattern-generating circuits that are local and autonomous, such as those in the spinal cord that generate left-right alternation during locomotion, the pattern generator for reaching and grasping is distributed across multiple, strongly-interacting brain regions.

}, doi = {10.1101/266320}, author = {Sauerbrei, Britton and Guo, Jian-Zhong and Mischiati, Matteo and Guo, Wendy and Kabra, Mayank and Verma, Nakul and Branson, Kristin M and Hantman, Adam W} } @article {48512, title = {Time-accuracy tradeoffs in kernel prediction: controlling prediction quality.}, journal = {Journal of Machine Learning Research}, volume = {18}, year = {2017}, month = {2017 Apr 1 }, pages = {1-29}, abstract = {

Kernel regression or classification (also referred to as weighted ε-NN methods in Machine Learning) are appealing for their simplicity and therefore ubiquitous in data analysis. How- ever, practical implementations of kernel regression or classification consist of quantizing or sub-sampling data for improving time efficiency, often at the cost of prediction quality. While such tradeoffs are necessary in practice, their statistical implications are generally not well understood, hence practical implementations come with few performance guaran- tees. In particular, it is unclear whether it is possible to maintain the statistical accuracy of kernel prediction{\textemdash}crucial in some applications{\textemdash}while improving prediction time.

The present work provides guiding principles for combining kernel prediction with data- quantization so as to guarantee good tradeoffs between prediction time and accuracy, and in particular so as to approximately maintain the good accuracy of vanilla kernel prediction.

Furthermore, our tradeoff guarantees are worked out explicitly in terms of a tuning parameter which acts as a knob that favors either time or accuracy depending on practical needs. On one end of the knob, prediction time is of the same order as that of single-nearest- neighbor prediction (which is statistically inconsistent) while maintaining consistency; on the other end of the knob, the prediction risk is nearly minimax-optimal (in terms of the original data size) while still reducing time complexity. The analysis thus reveals the interaction between the data-quantization approach and the kernel prediction method, and most importantly gives explicit control of the tradeoff to the practitioner rather than fixing the tradeoff in advance or leaving it opaque.

The theoretical results are validated on data from a range of real-world application domains; in particular we demonstrate that the theoretical knob performs as expected.\ 

}, url = {http://jmlr.org/papers/volume18/16-538/16-538.pdf}, author = {Kpotufe, Samory and Verma, Nakul} } @proceedings {47288, title = {Sample complexity of learning Mahalanobis distance metrics.}, volume = {28}, year = {2015}, month = {2015-Jul }, address = {Montreal, Canada}, abstract = {

Metric learning seeks a transformation of the feature space that enhances prediction quality for a given task. In this work we provide PAC-style sample complexity rates for supervised metric learning. We give matching lower- and upper-bounds showing that sample complexity scales with the representation dimension when no assumptions are made about the underlying data distribution. In addition, by leveraging the structure of the data distribution, we provide rates fine-tuned to a specific notion of the intrinsic complexity of a given dataset, allowing us to relax the dependence on representation dimension. We show both theoretically and empirically that augmenting the metric learning optimization criterion with a simple norm-based regularization is important and can help adapt to a dataset{\textquoteright}s intrinsic complexity yielding better generalization, thus partly explaining the empirical success of similar\ regularizations\ reported in previous works.

}, keywords = {metric learning, sample complexity}, url = {https://papers.nips.cc/paper/5811-sample-complexity-of-learning-mahalanobis-distance-metrics}, author = {Verma, Nakul and Branson, Kristin M} }