A Biophysically Detailed C. elegans Circuit as a Task-Agnostic Dynamical Core for Visually Robust Robot Manipulation
The research embeds a detailed C. elegans sensorimotor circuit as a fixed, task-agnostic dynamical core for robot manipulation. This core processes visual input through continuous-time neural dynamics, outperforming established methods like diffusion policies across various tasks and showing high robustness against visual noise and perturbations. The findings suggest that inherent biological circuit dynamics provide superior, transferable robustness compared to learned controllers.