Related papers: Predicting non-linear dynamics by stable local lea…

Non-linear dynamical systems represent a compact, flexible, and robust tool for reactive motion generation. The effectiveness of dynamical systems relies on their ability to accurately represent stable motions. Several approaches have been…

We propose a biologically inspired model of spiking neurons based on the dynamics of a damped, driven pendulum. Unlike traditional models such as the Leaky Integrate-and-Fire (LIF) neurons, the pendulum neuron incorporates second-order,…

The neural plausibility of backpropagation has long been disputed, primarily for its use of non-local weight transport $-$ the biologically dubious requirement that one neuron instantaneously measure the synaptic weights of another. Until…

The objective of this paper is to enhance the optimization process for neural networks by developing a dynamic learning rate algorithm that effectively integrates exponential decay and advanced anti-overfitting strategies. Our primary…

Recurrent neural networks are capable of learning the dynamics of an unknown nonlinear system purely from input-output measurements. However, the resulting models do not provide any stability guarantees on the input-output mapping. In this…

Maintaining the ability to fire sparsely is crucial for information encoding in neural networks. Additionally, spiking homeostasis is vital for spiking neural networks with changing numbers of weights and neurons. We discuss a range of…

In recent years, Spiking Neural Networks (SNNs) have demonstrated great successes in completing various Machine Learning tasks. We introduce a method for learning image features by \textit{locally connected layers} in SNNs using…

While ensuring stability for linear systems is well understood, it remains a major challenge for nonlinear systems. A general approach in such cases is to compute a combination of a Lyapunov function and an associated control policy.…

Error backpropagation is a highly effective mechanism for learning high-quality hierarchical features in deep networks. Updating the features or weights in one layer, however, requires waiting for the propagation of error signals from…

The task of the brain is to look for structure in the external input. We study a network of integrate-and-fire neurons with several types of recurrent connections that learns the structure of its time-varying feedforward input by attempting…

This paper presents a constructive algorithm that achieves successful one-shot learning of hidden spike-patterns in a competitive detection task. It has previously been shown (Masquelier et al., 2008) that spike-timing-dependent plasticity…

Consider an unknown nonlinear dynamical system that is known to be dissipative. The objective of this paper is to learn a neural dynamical model that approximates this system, while preserving the dissipativity property in the model. In…

Several learning rules for synaptic plasticity, that depend on either spike timing or internal state variables, have been proposed in the past imparting varying computational capabilities to Spiking Neural Networks. Due to design…

Deep neural network (DNN)-based adaptive controllers can be used to compensate for unstructured uncertainties in nonlinear dynamic systems. However, DNNs are also very susceptible to overfitting and co-adaptation. Dropout regularization is…

Machine learning techniques have demonstrated their effectiveness in achieving autonomy and optimality for nonlinear and high-dimensional dynamical systems. However, traditional black-box machine learning methods often lack formal stability…

The problem of training spiking neural networks (SNNs) is a necessary precondition to understanding computations within the brain, a field still in its infancy. Previous work has shown that supervised learning in multi-layer SNNs enables…

In this work we propose a new supervised learning method for temporally-encoded multilayer spiking networks to perform classification. The method employs a reinforcement signal that mimics backpropagation but is far less computationally…

Spiking Neural Networks (SNNs) have attracted enormous research interest due to temporal information processing capability, low power consumption, and high biological plausibility. However, the formulation of efficient and high-performance…

Spiking recurrent neural networks (RNNs) are a promising tool for solving a wide variety of complex cognitive and motor tasks, due to their rich temporal dynamics and sparse processing. However training spiking RNNs on dedicated…

We present a learning-based predictive control methodology using the differentiable programming framework with probabilistic Lyapunov-based stability guarantees. The neural Lyapunov differentiable predictive control (NLDPC) learns the…