It Takes Two Neurons To Ride a Bicycle
Source: Fermat's Library — annotated version
Date Published: 2004 (NIPS 2004)
Author: Matthew Cook (California Institute of Technology)
TL;DR
A classic paper from NIPS 2004 demonstrating that a remarkably simple two-neuron network can control a bicycle in a desired direction. The network achieves accurate long-range goal following while stability issues dominate short-run behavior — not by explicit design, but as a natural consequence of how the network controls the bicycle.