Figure 4.

BRAND runs ANN latent variable models with low latency. (a) To test the inference latency of LFADS and NDT, we inserted them into an iBCI control graph that receives 256 channels of simulated threshold crossings at 1 kHz, bins them, runs inference with LFADS or NDT, runs decoding, and updates the task state. Both LFADS and NDT used a sequence length of 30 bins. (b) LFADS and NDT use different types of sequence models, an RNN and a Transformer, respectively. Reprinted from Ye and Pandarinath 2021 [19]. (c) NDT inference times were consistently below 2 ms, while LFADS inference times were consistently below 6 ms. Reproduced from [19]. CC BY 4.0.