[Submitted on 22 May 2026 (
[v1](https://arxiv.org/abs/2605.24152v1)), last revised 26 May 2026 (this version, v2)]# Title:Neuro-Inspired Inverse Learning for Planning and Control
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Abstract:We present a neuro-inspired framework for embodied planning and control. Building on three principles that enable fast and highly effective goal-directed behavior in the mammalian brain - paired forward/inverse internal models, open-loop multi-step motor commands, and sequential, hierarchical organization of action - our Inverter framework uses learned components, trained end-to-end through Inverse Learning (IL) and supplemented where natural by analytic or algorithmic modules; we formalize IL and delineate it from supervised, reinforcement, and imitation learning. IL bridges Reinforcement Learning (RL)-style amortization, which runs in a single forward pass but emits only one action at a time, and Optimal Control (OC)-style sequence planning over whole trajectories, but with iterative test-time computation. Single Inverters or hierarchical n=2 Inverter stacks match or improve on offline-RL and diffusion-planner baselines on all 3 maze2d and 6 antmaze D4RL variants by an average of +24.2% (range -1.9% to +78.2%), at one-to-two orders of magnitude less inference compute time. Distinctively, optimizing through the Forward Model (FoM) over the entire T-step action sequence - rather than per step - lets Inverters produce smooth, goal-coherent, trajectory-wide structure and reach control policies closer to the analytic optimum than the policy underlying the training data itself. We also identify a failure mode of IL: FoM hacking under narrow training-data coverage, which we mitigate by using random training data with broader coverage. As an application example, a Pulse Inverter synthesizes arbitrary single-qubit quantum gates with fidelity matching the standard iterative numerical baseline (GRAPE), at more than 1000x lower per-gate compute time. In summary, we conclude that IL enables a versatile class of world-interfaces, especially for latency- and resource-critical embodied AI.
Submission history #
From: Tonio Ball [[view email](/show-email/347a3e87/2605.24152)]
**Fri, 22 May 2026 19:19:32 UTC (4,100 KB)**
[[v1]](/abs/2605.24152v1)**[v2]** Tue, 26 May 2026 06:41:34 UTC (4,100 KB)
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