In one embodiment, the present invention provides a neural network comprising multiple modalities. Each modality comprises multiple neurons. The neural network further comprises an interconnection lattice for cross-associating signaling between the neurons in different modalities. The interconnection lattice includes a plurality of perception neuron populations along a number of bottom-up signaling pathways, and a plurality of action neuron populations along a number of top-down signaling pathways. Each perception neuron along a bottom-up signaling pathway has a corresponding action neuron along a reciprocal top-down signaling pathway. An input neuron population configured to receive sensory input drives perception neurons along a number of bottom-up signaling pathways. A first set of perception neurons along bottom-up signaling pathways drive a first set of action neurons along top-down signaling pathways. Action neurons along a number of top-down signaling pathways drive an output neuron population configured to generate motor output.