“…To be effective in real-world, an autonomous agent, either biological or artificial, should 1) be robust to a noisy neural representation, 2) adapt to a fast-changing environment, 3) learn with no or limited supervision or reinforcement, and 4) compute efficiently with resource limitations. Our biologically constrained SNN overcomes the main problem that SNN architectures have, that of slow or computationally inefficient learning, and paves the way for introducing non-neuronal cells, such as astrocytes, that also process and learn information in the brain [38,39,55]. The application of SNNs in controlling a behavior, such as a motor task has indeed been impeded mainly by the lack of efficient or biologicallyconstrained learning methods [5,13,15,64].…”