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Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for…
Modular exponentiation is crucial to number theory and cryptography, yet remains largely unexplored from a mechanistic interpretability standpoint. We train a 4-layer encoder-decoder Transformer model to perform this operation and…
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Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
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Confinement properties of the $1+1$ Schwinger model can bestudied by computing the string tension between two charges. It is finite (vanishing) if the fermions are massive (massless) corresponding to the occurrence of confinement…
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This essay is a recapitulation of an earlier Kramers-Kronig analysis of biological tissue, published in 2010, "Kramers-Kronig analysis of biological skin". The intent is to both complement and bolster the antecedent analysis by furnishing…
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Sequence modelling requires determining which past tokens are causally relevant from the context and their importance: a process inherent to the attention layers in transformers, yet whose underlying learned mechanisms remain poorly…