Skill · Franka Panda
Sweep left / right
Base turns left or right depending on which pathway the neurons answer on.
Runs on the Franka Panda · Robot arm
01 Pathways
How the neurons drive it.
A pathway is one cue: the electrode we pulse, the electrodes we read, and the rule that decides when it is ON. This skill has two.
“turn right”
- Pulse electrode
- 13at 10 Hz
- Read electrodes
- 5 6 12 14 20 21 22
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 13 at 10 Hz. When electrodes 5, 6, 12, 14, 20, 21 and 22 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “turn right” is ON.
“turn left”
- Pulse electrode
- 50at 10 Hz
- Read electrodes
- 41 42 43 49 51 57 58 59
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 50 at 10 Hz. When electrodes 41, 42, 43, 49, 51, 57, 58 and 59 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “turn left” is ON.
These are the skill file’s starting electrodes, numbered column by column across the 8 × 8 array. Calibration moves each pathway onto electrodes your culture actually answers on and raises its ON threshold above resting noise.
02 Movement
What the Franka Panda does.
Target pose “turn right”
- joint 1
- −1.2 rad
Target pose “turn left”
- joint 1
- 1.2 rad
03 The test
Moves only while cued.
Pulse ‘turn right’ 1–3 s and ‘turn left’ 4–6 s.
It passes when
- 01Turns right in its window
- 02Turns left in its window
- 03Does not turn left early
04 Proof
Proof it is the neurons.
Validation replays this test three times on the same spontaneous activity. The skill counts only if it passes with stimulation and fails under both controls; if it also passes without the neurons, it is marked invalid.
05 More skills
Franka Panda
Train “Sweep left / right” on the Franka Panda.
Choose a biocomputer, launch, and watch it calibrate, train and validate.