Corrective sub-movements link feedback to feedforward control in the cerebellum
The ability to execute accurate movements is thought to rely on both anticipatory feedforward commands and rapid feedback corrections, yet how these control systems are integrated within cerebellar circuits remains unclear. Here, we show that corrective sub-movements (CSMs) -- structured, feedback-driven adjustments occurring spontaneously during naturalistic mouse reaching -- are not only encoded in anterior interposed (IntA) output neurons, but also act as instructive signals for feedforward learning. Closed-loop perturbations that trigger CSMs lead to learned shifts in the timing of future corrections, even in the absence of further perturbation. Strikingly, this learning depends on the timing of corrective responses, rather than the timing of the error itself, and is accompanied by physiological adaptation in cerebellar output neuronal firing rates. These findings reveal a cerebellar mechanism by which feedback responses train future anticipatory control signals, bridging the gap between reactive and anticipatory motor control in the cerebellum.