Recurrent Spiking Neural Networks for Continuous Motor Control: A Biologically Plausible Model of Motor Cortex

Motor cortex acquires skilled movements through recurrent spiking dynamics and experience-dependent synaptic plasticity, yet how such circuits learn continuous motor control using biologically local signals remains unclear. Here, we develop a recurrent spiking neural network model of motor cortex that addresses both the computational and biological requirements of motor learning. We first analytically derived the recurrent firing-rate state directly from synaptic input and trained the network by implicit differentiation, thereby avoiding backpropagation through long spike trajectories. We then introduced State-Carry Initialization, which enables closed-loop motor control by continuously carrying the ongoing recurrent state across successive actions. Building on this formulation, we devised a learning rule termed Feedback-Spike Nudging (FSN), in which teaching signals are delivered as spikes through a feedback pathway. Synaptic changes depend only on presynaptic activity and the feedback-evoked change in postsynaptic firing, consistent with biological mechanisms of synaptic plasticity in motor cortex. The resulting networks learned continuous motor control through both supervised and reinforcement learning, which could be mapped respectively onto interactions of motor cortex with the cerebellum and basal ganglia. Moreover, the FSN learning rule was consistent with experimental observations of structural spine plasticity in mouse motor cortex. Thus, our study lays a foundation for recurrent spiking models of motor cortex that are biologically grounded at both the functional and anatomical levels.