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Symbiotic BMI controller based on reward-related activity of rat nucleus accumbens (NAcc). The controller includes two components: 1) the actor, driven by M1 activity, and 2) the critic, based on the recordings from NAcc. The critic evaluates the actions of the actor by using the value estimator and adapts the actor’s parameters to increase the probability of reward. CCBY 4.0, http://journals.plos.org/plosone/article?id=10.1371/journal.pone.0014760.
