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Temporally aligned sensory history restores Markov-blanket function in delayed sensorimotor systems.

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Title: Temporally aligned sensory history restores Markov-blanket function in delayed sensorimotor systems.
Authors: Yamaki N; TNQ Tech, Co., 131 Continental Dr Suite 305, Newark, DE, 19713, USA; King's College London, London, UK. Electronic address: nobuchika.yamaki@tnqtech.ooo., Churiki T; TNQ Tech, Co., 131 Continental Dr Suite 305, Newark, DE, 19713, USA.
Source: Bio Systems [Biosystems] 2026 Oct; Vol. 268, pp. 105939. Date of Electronic Publication: 2026 Aug 30.
Publication Type: Journal Article
Language: English
Journal Info: Publisher: Elsevier Science Ireland Country of Publication: Ireland NLM ID: 0430773 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 1872-8324 (Electronic) Linking ISSN: 03032647 NLM ISO Abbreviation: Biosystems Subsets: MEDLINE
Imprint Name(s): Publication: Limerick : Elsevier Science Ireland
Original Publication: Amsterdam, North-Holland Pub. Co.
MeSH Terms: Markov Chains* , Models, Neurological*, Humans ; Animals ; Computer Simulation ; Time Factors
Abstract: Biological sensorimotor interactions involve finite delays, raising the question of whether an instantaneous Markov blanket contains the temporally relevant information required to separate internal from external dynamics. We examined this problem in a minimal stochastic sensorimotor system with an explicit sensory-to-internal delay and compared instantaneous, generalized-coordinate, history-extended, oracle-delay, random-history, and shuffled-history recognition models. Boundary function was evaluated using cross-fitted residual internal-external dependence together with current-state reconstruction, delay-aligned sensory reconstruction, and future-state prediction. Instantaneous recognition left substantial residual dependence under delay, whereas temporally aligned sensory history strongly reduced this dependence and improved reconstruction and prediction. Generalized coordinates provided partial compensation, while direct access to the true delayed sensory state was optimal for delay-specific reconstruction but not for all functional criteria. Temporally disrupted history failed to reproduce the history advantage. The residual-screening result was preserved across regularization strengths, nonparametric mutual-information estimation, an alternative temporal-disruption control, and multivariate parameter variation. These findings show that under delayed coupling, the functional sufficiency of a Markov-blanket representation depends not only on which variables constitute the boundary but also on whether the representation contains the temporally relevant information mediating system-environment interactions.
(Copyright © 2026 The Authors. Published by Elsevier B.V. All rights reserved.)
Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
Contributed Indexing: Keywords: Active inference; Delayed dynamical systems; Markov blanket; Sensorimotor delay; Temporally aligned sensory history
Entry Date(s): Date Created: 20260830 Date Completed: 20260906 Latest Revision: 20260906
Update Code: 20260907
DOI: 10.1016/j.biosystems.2026.105939
PMID: 42669402
Database: MEDLINE
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  Data: Temporally aligned sensory history restores Markov-blanket function in delayed sensorimotor systems.
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  Data: <searchLink fieldCode="AU" term="%22Yamaki+N%22">Yamaki N</searchLink>; TNQ Tech, Co., 131 Continental Dr Suite 305, Newark, DE, 19713, USA; King's College London, London, UK. Electronic address: nobuchika.yamaki@tnqtech.ooo.<br /><searchLink fieldCode="AU" term="%22Churiki+T%22">Churiki T</searchLink>; TNQ Tech, Co., 131 Continental Dr Suite 305, Newark, DE, 19713, USA.
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  Data: Biological sensorimotor interactions involve finite delays, raising the question of whether an instantaneous Markov blanket contains the temporally relevant information required to separate internal from external dynamics. We examined this problem in a minimal stochastic sensorimotor system with an explicit sensory-to-internal delay and compared instantaneous, generalized-coordinate, history-extended, oracle-delay, random-history, and shuffled-history recognition models. Boundary function was evaluated using cross-fitted residual internal-external dependence together with current-state reconstruction, delay-aligned sensory reconstruction, and future-state prediction. Instantaneous recognition left substantial residual dependence under delay, whereas temporally aligned sensory history strongly reduced this dependence and improved reconstruction and prediction. Generalized coordinates provided partial compensation, while direct access to the true delayed sensory state was optimal for delay-specific reconstruction but not for all functional criteria. Temporally disrupted history failed to reproduce the history advantage. The residual-screening result was preserved across regularization strengths, nonparametric mutual-information estimation, an alternative temporal-disruption control, and multivariate parameter variation. These findings show that under delayed coupling, the functional sufficiency of a Markov-blanket representation depends not only on which variables constitute the boundary but also on whether the representation contains the temporally relevant information mediating system-environment interactions.<br /> (Copyright © 2026 The Authors. Published by Elsevier B.V. All rights reserved.)
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  Data: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
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              Text: 2026 Oct
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