[Animats]

Mammal brains have multiple functional units. The cerebellum does most of the motor control. The cortex does most of the planning and deciding. The cortex acts through the cerebellum, not by driving muscles directly. Most of Boston Dynamics' control systems are doing cerebellum-level functions. As with the cerebellum, this involves fast control via feedback loops.

[argonaut]

Except for the inconvenient fact that the cerebellum is not explicitly solving control theory equations.

And also that other inconvenient fact that neuroscientists barely understand the brain at all.

[Animats]

"Except for the inconvenient fact that the cerebellum is not explicitly solving control theory equations."

It might be. You can invert a model by training a neural net to compute its inverse.

[argonaut]

It might be. It might not be. Hardly a compelling argument.

[sharemywin]

reinforcement learning goes along way too.