Related papers: VOR Adaptation on a Humanoid iCub Robot Using a Sp…

Although representation learning methods developed within the framework of traditional neural networks are relatively mature, developing a spiking representation model remains a challenging problem. This paper proposes an event-based method…

Spiking neural networks (SNNs) are emerging as a promising alternative to traditional artificial neural networks (ANNs), offering biological plausibility and energy efficiency. Despite these merits, SNNs are frequently hampered by limited…

This paper introduces a novel approach in neuromorphic computing, integrating heterogeneous hardware nodes into a unified, massively parallel architecture. Our system transcends traditional single-node constraints, harnessing the neural…

Biological sensing and processing is asynchronous and sparse, leading to low-latency and energy-efficient perception and action. In robotics, neuromorphic hardware for event-based vision and spiking neural networks promises to exhibit…

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…

Learning performant robot manipulation policies can be challenging due to high-dimensional continuous actions and complex physics-based dynamics. This can be alleviated through intelligent choice of action space. Operational Space Control…

We present new theoretical foundations for unsupervised Spike-Timing-Dependent Plasticity (STDP) learning in spiking neural networks (SNNs). In contrast to empirical parameter search used in most previous works, we provide novel theoretical…

Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation…

Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present…

Memory is a key component of biological neural systems that enables the retention of information over a huge range of temporal scales, ranging from hundreds of milliseconds up to years. While Hebbian plasticity is believed to play a pivotal…

Understanding how the brain learns to compute functions reliably, efficiently and robustly with noisy spiking activity is a fundamental challenge in neuroscience. Most sensory and motor tasks can be described as dynamical systems and could…

Spiking Neural Network (SNN) is considered more biologically realistic and power-efficient as it imitates the fundamental mechanism of the human brain. Recently, backpropagation (BP) based SNN learning algorithms that utilize deep learning…

Recent work has shown that dopamine-modulated STDP can solve many of the issues associated with reinforcement learning, such as the distal reward problem. Spiking neural networks provide a useful technique in implementing reinforcement…

Understanding how biological neural networks carry out learning using spike-based local plasticity mechanisms can lead to the development of powerful, energy-efficient, and adaptive neuromorphic processing systems. A large number of…

Event-based vision sensors provide significant advantages for high-speed perception, including microsecond temporal resolution, high dynamic range, and low power consumption. When combined with Spiking Neural Networks (SNNs), they can be…

Neuromorphic computing has recently gained momentum with the emergence of various neuromorphic processors. As the field advances, there is an increasing focus on developing training methods that can effectively leverage the unique…

The human visual system contains a hierarchical sequence of modules that take part in visual perception at superordinate, basic, and subordinate categorization levels. During the last decades, various computational models have been proposed…

Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air…

Humans perform remarkably well in many cognitive tasks including pattern recognition. However, the neuronal mechanisms underlying this process are not well understood. Nevertheless, artificial neural networks, inspired in brain circuits,…

Neuro-inspired models and systems have great potential for applications in unconventional computing. Often, the mechanisms of biological neurons are modeled or mimicked in simulated or physical systems in an attempt to harness some of the…