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Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
Machine learning applications that are implemented with spike-based computation model, e.g., Spiking Neural Network (SNN), have a great potential to lower the energy consumption when they are executed on a neuromorphic hardware. However,…
In this work, we present HiAER-Spike, a modular, reconfigurable, event-driven neuromorphic computing platform designed to execute large spiking neural networks with up to 160 million neurons and 40 billion synapses - roughly twice the…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
Spiking Neural Networks are a recent and new neural network design approach that promises tremendous improvements in power efficiency, computation efficiency, and processing latency. They do so by using asynchronous spike-based data flow,…
Neuromorphic computing is an emerging technology enabling low-latency and energy-efficient signal processing. A key algorithmic tool in neuromorphic computing is spiking neural networks (SNNs). SNNs are biologically inspired neural networks…
Spiking neural networks (SNNs) promise energy-efficient computation by mimicking biological neural dynamics, yet existing plasticity rules focus on isolated spike pairs and fail to leverage the synchronous activity patterns that drive…
Spiking neural networks (SNNs) that enable low-power design on edge devices have recently attracted significant research. However, the temporal characteristic of SNNs causes high latency, high bandwidth and high energy consumption for the…
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…
Computer simulations have long presented the exciting possibility of scientific insight into complex real-world processes. Despite the power of modern computing, however, it remains challenging to systematically perform inference under…
Fast weight architectures offer a promising alternative to attention-based transformers for long-context modeling by maintaining constant memory overhead regardless of context length. However, their potential is limited by the next-token…
Neuromorphic Computing (NC) and Spiking Neural Networks (SNNs) in particular are often viewed as the next generation of Neural Networks (NNs). NC is a novel bio-inspired paradigm for energy efficient neural computation, often relying on…
Neuromorphic vision sensor is a new bio-inspired imaging paradigm that reports asynchronous, continuously per-pixel brightness changes called `events' with high temporal resolution and high dynamic range. So far, the event-based image…
This paper proposes a sample-efficient yet simple approach to learning closed-loop policies for nonprehensile manipulation. Although reinforcement learning (RL) can learn closed-loop policies without requiring access to underlying physics…
Spiking Neural Network (SNN), as a brain-inspired and energy-efficient network, is currently facing the pivotal challenge of exploring a suitable and efficient learning framework. The predominant training methodologies, namely…
Spiking Neural Networks (SNNs), characterized by discrete binary activations, offer high computational efficiency and low energy consumption, making them well-suited for computation-intensive tasks such as stereo image restoration. In this…
Neuromorphic architectures are ideally suited for the implementation of smart sensors able to react, learn, and respond to a changing environment. Our work uses the insect brain as a model to understand how heterogeneous architectures,…
Computer architecture design space is vast and complex. Tools are needed to explore new ideas and gain insights quickly, with low efforts and at a desired accuracy. We propose Calipers, a criticality-based framework to model key…
Biologically-inspired Spiking Neural Networks (SNNs), processing information using discrete-time events known as spikes rather than continuous values, have garnered significant attention due to their hardware-friendly and energy-efficient…
Spiking Neural Networks~(SNNs) are a promising research paradigm for low power edge-based computing. Recent works in SNN backpropagation has enabled training of SNNs for practical tasks. However, since spikes are binary events in time,…