Table 1.

Parameter values for the model

Parameter	Value
${\mathit{L}}_{\mathbf{0}}$a	$2$
${\mathit{L}}_{\mathbf{0}}$b	$1.5$
${\mathit{L}}_{\mathbf{1}}$a	$2$
${\mathit{L}}_{\mathbf{1}}$b	$-2$
RF (in pixels)	40 × 40∼100 × 100
w	5∼250
τ(ms)	30∼300
${\mathit{E}}_{\text{leak}}\left(\text{mV}\right)$	$-60$
${\mathit{V}}_{\text{th}}\left(\text{mV}\right)$	$-50$
${\mathit{V}}_{\text{re}}\left(\text{mV}\right)$	$-70$

^aUsed for open-loop simulations except for those with real-world looming animals.

^bUsed for both closed-loop simulations on virtual robots and open-loop simulations with real-world looming animals.