Related papers: Learning to Walk: Spike Based Reinforcement Learni…

Spiking Neural Networks are often touted as brain-inspired learning models for the third wave of Artificial Intelligence. Although recent SNNs trained with supervised backpropagation show classification accuracy comparable to deep networks,…

Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…

Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…

Spiking neural networks (SNNs) recently gained momentum due to their low-power multiplication-free computing and the closer resemblance of biological processes in the nervous system of humans. However, SNNs require very long spike trains…

Neuromorphic computing and, in particular, spiking neural networks (SNNs) have become an attractive alternative to deep neural networks for a broad range of signal processing applications, processing static and/or temporal inputs from…

Spiking Neural Networks (SNNs) have garnered attention over recent years due to their increased energy efficiency and advantages in terms of operational complexity compared to traditional Artificial Neural Networks (ANNs). Two important…

We present a spike-based unsupervised regenerative learning scheme to train Spiking Deep Networks (SpikeCNN) for object recognition problems using biologically realistic leaky integrate-and-fire neurons. The training methodology is based on…

Spiking Neural Networks (SNNs) have become an essential paradigm in neuroscience and artificial intelligence, providing brain-inspired computation. Recent advances in literature have studied the network representations of deep neural…

Not until recently, robust robot locomotion has been achieved by deep reinforcement learning (DRL). However, for efficient learning of parametrized bipedal walking, developed references are usually required, limiting the performance to that…

Brain-inspired spiking neural networks (SNNs) are recognized as a promising avenue for achieving efficient, low-energy neuromorphic computing. Recent advancements have focused on directly training high-performance SNNs by estimating the…

This paper demonstrates for the first time that a biologically-plausible spiking neural network (SNN) equipped with Spike-Timing-Dependent Plasticity (STDP) can continuously learn to detect walking people on the fly using retina-inspired,…

Brain-inspired spiking neural networks (SNNs) have recently drawn more and more attention due to their event-driven and energy-efficient characteristics. The integration of storage and computation paradigm on neuromorphic hardwares makes…

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…

Recent work has demonstrated the success of reinforcement learning (RL) for training bipedal locomotion policies for real robots. This prior work, however, has focused on learning joint-coordination controllers based on an objective of…

The energy-efficient control of mobile robots is crucial as the complexity of their real-world applications increasingly involves high-dimensional observation and action spaces, which cannot be offset by limited on-board resources. An…

Reinforcement learning (RL) has shown great potential in training agile and adaptable controllers for legged robots, enabling them to learn complex locomotion behaviors directly from experience. However, policies trained in simulation often…

Reactive stepping and push recovery for biped robots is often restricted to flat terrains because of the difficulty in computing capture regions for nonlinear dynamic models. In this paper, we address this limitation by using reinforcement…

Computation using brain-inspired spiking neural networks (SNNs) with neuromorphic hardware may offer orders of magnitude higher energy efficiency compared to the current analog neural networks (ANNs). Unfortunately, training SNNs with the…

Humans and animals are believed to use a very minimal set of trajectories to perform a wide variety of tasks including walking. Our main objective in this paper is two fold 1) Obtain an effective tool to realize these basic motion patterns…

Spiking Neural Networks (SNNs) have emerged with promising energy-efficient property, yet a substantial performance gap persists compared to Artificial Neural Networks (ANNs). This gap stems from at least two key limitations: first,…