Related papers: Many-Joint Robot Arm Control with Recurrent Spikin…
It has long been realized that neuromorphic hardware offers benefits for the domain of robotics such as low energy, low latency, as well as unique methods of learning. In aiming for more complex tasks, especially those incorporating…
Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have been used to learn models of robot dynamics from data, but…
We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robot control commands as skills, which are decomposed into…
Re-configurable robots have more utility and flexibility for many real-world tasks. Designing a learning agent to operate such robots requires adapting to different configurations. Here, we focus on robotic arms with multiple rigid links…
In recent years, quadruped robotics has advanced significantly, particularly in perception and motion control via reinforcement learning, enabling complex motions in challenging environments. Visual sensors like depth cameras enhance…
Recent advances in Voice Activity Detection (VAD) are driven by artificial and Recurrent Neural Networks (RNNs), however, using a VAD system in battery-operated devices requires further power efficiency. This can be achieved by neuromorphic…
This paper presents a neuromorphic system for cognitive load classification in a real-world setting, an Air Traffic Control (ATC) task, using a hardware implementation of Spiking Neural Networks (SNNs). Electroencephalogram (EEG) and…
This paper introduces the Turn-Taking Spiking Neural Network (TTSNet), which is a cognitive model to perform early turn-taking prediction about human or agent's intentions. The TTSNet framework relies on implicit and explicit multimodal…
The increasing need for intelligent sensors in a wide range of everyday objects requires the existence of low power information processing systems which can operate autonomously in their environment. In particular, merging and processing…
Drawing on the intricate structures of the brain, Spiking Neural Networks (SNNs) emerge as a transformative development in artificial intelligence, closely emulating the complex dynamics of biological neural networks. While SNNs show…
In this paper, we present our work on developing robot arm prosthetic via deep learning. Our work proposes to use transfer learning techniques applied to the Google Inception model to retrain the final layer for surface electromyography…
Spiking Neural Networks (SNNs), particularly Spiking Transformers, offer energy-efficient processing of event-based sensor data for healthcare applications. Yet current architectures are rigid: they are trained and deployed as static…
Spiking neural networks (SNNs) with adaptive synapses reflect core properties of biological neural networks. Speech recognition, as an application involving audio coding and dynamic learning, provides a good test problem to study SNN…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Understanding cognitive flexibility and task-switching mechanisms in neural systems requires biologically plausible computational models. This tutorial presents a step-by-step approach to constructing a spiking neural network (SNN) that…
This paper proposes a novel spiking artificial neuron design based on a combined spin valve/magnetic tunnel junction (SV/MTJ). Traditional hardware used in artificial intelligence and machine learning faces significant challenges related to…
Neuromorphic engineers aim to develop event-based spiking neural networks (SNNs) in hardware. These SNNs closer resemble dynamics of biological neurons than todays' artificial neural networks and achieve higher efficiency thanks to the…
Spiking neural networks are nature's versatile solution to fault-tolerant and energy efficient signal processing. To translate these benefits into hardware, a growing number of neuromorphic spiking neural network processors attempt to…
Spiking Neural Networks (SNNs), models inspired by neural mechanisms in the brain, allow for energy-efficient implementation on neuromorphic hardware. However, SNNs trained with current direct training approaches are constrained to a…
Spiking Neural Networks (SNNs) emerged as a promising solution in the field of Artificial Neural Networks (ANNs), attracting the attention of researchers due to their ability to mimic the human brain and process complex information with…