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A small spiking network is driving the cart. The pole's angle goes in as stimulation, and spikes come out as a push. It's bad at this to start. Click two of the outer neurons to send a training pulse, and watch whether the runs get longer.
In the Braingeneers lab at UC Santa Cruz we ran this same loop on cortical organoids sitting on multi-electrode arrays. Pole angle became stimulation, recorded spikes became force, and training pulses went in when the runs got worse. This page is a cartoon version built from leaky integrate-and-fire neurons. A training pulse strengthens whichever outputs a neuron was recently helping.