Andrii Zahorodnii

Andrii Zahorodnii, Dima Yanovsky

Project Jenkins explores how neural activity in the brain can be decoded into robotic movement and, conversely, how movement patterns can be used to generate synthetic neural data. Using real neural data recorded from motor and premotor cortex areas of a macaque monkey named Jenkins, we develop models for decoding (converting brain signals into robotic arm movements) and encoding (simulating brain activity corresponding to a given movement). For the interface between the brain simulation and the physical world, we utilized Koch v1.1 leader and follower robotic arms. We developed an interactive web console that allows users to generate synthetic brain data from joystick movements in real time. Our results are a step towards brain-controlled robotics, prosthetics, and enhancing normal motor function. By accurately modeling brain activity, we take a step toward flexible brain-computer interfaces that generalize beyond predefined movements. To support the research community, we provide open source tools for both synthetic data generation and neural decoding, fostering reproducibility and accelerating progress. The project is available at https://www.808robots.com/projects/jenkins

Laker Newhouse, R. Preston Hess, Franz Cesista et al.

Neural networks are often highly sensitive to input and weight perturbations. This sensitivity has been linked to pathologies such as vulnerability to adversarial examples, divergent training, and overfitting. To combat these problems, past research has looked at building neural networks entirely from Lipschitz components. However, these techniques have not matured to the point where researchers have trained a modern architecture such as a transformer with a Lipschitz certificate enforced beyond initialization. To explore this gap, we begin by developing and benchmarking novel, computationally-efficient tools for maintaining norm-constrained weight matrices. Applying these tools, we are able to train transformer models with Lipschitz bounds enforced throughout training. We find that optimizer dynamics matter: switching from AdamW to Muon improves standard methods -- weight decay and spectral normalization -- allowing models to reach equal performance with a lower Lipschitz bound. Inspired by Muon's update having a fixed spectral norm, we co-design a weight constraint method that improves the Lipschitz vs. performance tradeoff on MLPs and 2M parameter transformers. Our 2-Lipschitz transformer on Shakespeare text reaches validation accuracy 60%. Scaling to 145M parameters, our 10-Lipschitz transformer reaches 21% accuracy on internet text. However, to match the NanoGPT baseline validation accuracy of 39.4%, our Lipschitz upper bound increases to 10^264. Nonetheless, our Lipschitz transformers train without stability measures such as layer norm, QK norm, and logit tanh softcapping.

Andrii Zahorodnii, Jasper J. F. van den Bosch, Ian Charest et al.

Traditional closed peer review systems, which have played a central role in scientific publishing, are often slow, costly, non-transparent, stochastic, and possibly subject to biases - factors that can impede scientific progress and undermine public trust. Here, we propose and examine the efficacy and accuracy of an alternative form of scientific peer review: through an open, bottom-up process. First, using data from two major scientific conferences (CCN2023 and ICLR2023), we highlight how high variability of review scores and low correlation across reviewers presents a challenge for collective review. We quantify reviewer agreement with community consensus scores and use this as a reviewer quality estimator, showing that surprisingly, reviewer quality scores are not correlated with authorship quality. Instead, we reveal an inverted U-shape relationship, where authors with intermediate paper scores are the best reviewers. We assess empirical Bayesian methods to estimate paper quality based on different assessments of individual reviewer reliability. We show how under a one-shot review-then-score scenario, both in our models and on real peer review data, a Bayesian measure significantly improves paper quality assessments relative to simple averaging. We then consider an ongoing model of publishing, reviewing, and scoring, with reviewers scoring not only papers but also other reviewers. We show that user-generated reviewer ratings can yield robust and high-quality paper scoring even when unreliable (but unbiased) reviewers dominate. Finally, we outline incentive structures to recognize high-quality reviewers and encourage broader reviewing coverage of submitted papers. These findings suggest that a self-selecting open peer review process is potentially scalable, reliable, and equitable with the possibility of enhancing the speed, fairness, and transparency of the peer review process.

Andrii Zahorodnii, Christopher Wang, Bennett Stankovits et al. · mit

High-resolution neural datasets enable foundation models for the next generation of brain-computer interfaces and neurological treatments. The community requires rigorous benchmarks to discriminate between competing modeling approaches, yet no standardized evaluation frameworks exist for intracranial EEG (iEEG) recordings. To address this gap, we present Neuroprobe: a suite of decoding tasks for studying multi-modal language processing in the brain. Unlike scalp EEG, intracranial EEG requires invasive surgery to implant electrodes that record neural activity directly from the brain with minimal signal distortion. Neuroprobe is built on the BrainTreebank dataset, which consists of 40 hours of iEEG recordings from 10 human subjects performing a naturalistic movie viewing task. Neuroprobe serves two critical functions. First, it is a mine from which neuroscience insights can be drawn. Its high temporal and spatial resolution allows researchers to systematically determine when and where computations for each aspect of language processing occur in the brain by measuring the decodability of each feature across time and all electrode locations. Using Neuroprobe, we visualize how information flows from the superior temporal gyrus to the prefrontal cortex, and the progression from simple auditory features to more complex language features in a purely data-driven manner. Second, as the field moves toward neural foundation models, Neuroprobe provides a rigorous framework for comparing competing architectures and training protocols. We found that the linear baseline is surprisingly strong, beating frontier foundation models on many tasks. Neuroprobe is designed with computational efficiency and ease of use in mind. We make the code for Neuroprobe openly available and maintain a public leaderboard, aiming to enable rapid progress in the field of iEEG foundation models, at https://neuroprobe.dev/

Andrii Zahorodnii

Developing effective world models is crucial for creating artificial agents that can reason about and navigate complex environments. In this paper, we investigate a deep supervision technique for encouraging the development of a world model in a network trained end-to-end to predict the next observation. While deep supervision has been widely applied for task-specific learning, our focus is on improving the world models. Using an experimental environment based on the Flappy Bird game, where the agent receives only LIDAR measurements as observations, we explore the effect of adding a linear probe component to the network's loss function. This additional term encourages the network to encode a subset of the true underlying world features into its hidden state. Our experiments demonstrate that this supervision technique improves both training and test performance, enhances training stability, and results in more easily decodable world features -- even for those world features which were not included in the training. Furthermore, we observe a reduced distribution drift in networks trained with the linear probe, particularly during high-variability phases of the game (flying between successive pipe encounters). Including the world features loss component roughly corresponded to doubling the model size, suggesting that the linear probe technique is particularly beneficial in compute-limited settings or when aiming to achieve the best performance with smaller models. These findings contribute to our understanding of how to develop more robust and sophisticated world models in artificial agents, paving the way for further advancements in this field.