Nervous systems sense, communicate, compute , and actuate movement using distributed components with  trade-offs in speed, accuracy, sparsity, noise , and saturation. Nevertheless, the resulting control can achieve remarkably fast, accurate, and robust  performance due to a highly effective layered control architecture. However, there is no theory explaining the effectiveness of layered control architectures that connects speed-accuracy trade-offs (SATs) in neurophysiology to the resulting SATs in sensorimotor control. In this paper, we introduce a theoretical framework that provides a synthetic perspective to explain why there exists extreme diversity across layers and within levels. This framework characterizes how the sensorimotor control SATs are constrained by the hardware SATs of neurons communicating with spikes and their sensory and muscle endpoints, in both stochastic and deterministic models. The theoretical predictions of the model are experimentally confirmed using driving experiments in which the time delays and accuracy of the control input from the wheel are varied . These results show that the appropriate diversity in the properties of neurons and muscles across layers and within levels help create systems that are both fast and accurate despite being built from components that are individually slow or inaccurate. This novel concept, which we call "diversity-enabled sweet spots" (DESSs) , explains the ubiquity of heterogeneity in the sizes of axons within a nerve as well the resulting superior performance of sensorimotor control .
Nervous systems sense, communicate, compute and actuate movement using distributed components with severe trade-offs in speed, accuracy, sparsity, noise and saturation. Nevertheless, brains achieve remarkably fast, accurate, and robust control performance due to a highly effective layered control architecture. Here we introduce a driving task to study how a mountain biker mitigates the immediate disturbance of trail bumps and responds to changes in trail direction. We manipulated the time delays and accuracy of the control input from the wheel as a surrogate for manipulating the characteristics of neurons in the control loop. The observed speed-accuracy trade-offs (SATs) motivated a theoretical framework consisting of layers of control loops with components having diverse speeds and accuracies within each physical level, such as nerve bundles containing axons with a wide range of sizes. Our model explains why the errors from two control loops -- one fast but inaccurate reflexive layer that corrects for bumps, and a planning layer that is slow but accurate -- are additive, and show how the errors in each control loop can be decomposed into the errors caused by the limited speeds and accuracies of the components . These results demonstrate that an appropriate diversity in the properties of neurons across layers helps to create "diversity-enabled sweet spots" (DESSs) so that both fast and accurate control is achieved using slow or inaccurate components .
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