Jeff presents ideas about the parallel structures in the upper and lower layers of the neocortex and how they might be representing object states. Niels gives a summary of hierarchical action policy research so far.
I went to learn about how feed center surround inputs work and found this image on a Wikipedia article referencing Retinal ganglion cells:
I have a software/non-neuroscience background so I wanted to make sure I was on the right track with the concept. Please let me know if there’s a better spot to get the gist of the reference.
Thanks for the video! 
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