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Spiking Neural Networks (SNNs), as a biologically plausible alternative to Artificial Neural Networks (ANNs), have demonstrated advantages in terms of energy efficiency, temporal processing, and biological plausibility. However, SNNs are…

Spiking Neural Networks (SNNs) offer a biologically inspired alternative to conventional artificial neural networks, with potential advantages in power efficiency due to their event-driven computation. Despite their promise, SNNs have yet…

Equivariance is a powerful inductive bias in neural networks, improving generalisation and physical consistency. Recently, however, non-equivariant models have regained attention, due to their better runtime performance and imperfect…

(Non-)robustness of neural networks to small, adversarial pixel-wise perturbations, and as more recently shown, to even random spatial transformations (e.g., translations, rotations) entreats both theoretical and empirical understanding.…

There has been enormous progress in the last few years in designing neural networks that respect the fundamental symmetries and coordinate freedoms of physical law. Some of these frameworks make use of irreducible representations, some make…

Quantum neural network architectures that have little-to-no inductive biases are known to face trainability and generalization issues. Inspired by a similar problem, recent breakthroughs in machine learning address this challenge by…

Spiking neural networks (SNNs) are bio-inspired networks that mimic how neurons in the brain communicate through discrete spikes, which have great potential in various tasks due to their energy efficiency and temporal processing…

Spiking Neural Networks (SNNs) mimic the information-processing mechanisms of the human brain and are highly energy-efficient, making them well-suited for low-power edge devices. However, the pursuit of accuracy in current studies leads to…

Including covariant information, such as position, force, velocity or spin is important in many tasks in computational physics and chemistry. We introduce Steerable E(3) Equivariant Graph Neural Networks (SEGNNs) that generalise equivariant…

Recent advancements in neuroscience research have propelled the development of Spiking Neural Networks (SNNs), which not only have the potential to further advance neuroscience research but also serve as an energy-efficient alternative to…

Message passing neural networks have become a method of choice for learning on graphs, in particular the prediction of chemical properties and the acceleration of molecular dynamics studies. While they readily scale to large training data…

Robotic pick and place tasks are symmetric under translations and rotations of both the object to be picked and the desired place pose. For example, if the pick object is rotated or translated, then the optimal pick action should also…

Based on the theory of homogeneous spaces we derive geometrically optimal edge attributes to be used within the flexible message-passing framework. We formalize the notion of weight sharing in convolutional networks as the sharing of…

Incorporating symmetries can lead to highly data-efficient and generalizable models by defining equivalence classes of data samples related by transformations. However, characterizing how transformations act on input data is often…

Spherical data is found in many applications. By modeling the discretized sphere as a graph, we can accommodate non-uniformly distributed, partial, and changing samplings. Moreover, graph convolutions are computationally more efficient than…

Machine learning potentials have become increasingly successful in atomistic simulations. Many of these potentials are based on an atomistic representation in a local environment, but an efficient description of non-local interactions that…

Recently, equivariant neural network models have been shown to improve sample efficiency for tasks in computer vision and reinforcement learning. This paper explores this idea in the context of on-robot policy learning in which a policy…

Equivariant neural networks are a class of neural networks designed to preserve symmetries inherent in the data. In this paper, we introduce a general method for modifying a neural network to enforce equivariance, a process we refer to as…

We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object SLAM for consistent spatial understanding with long-term scene changes. NeuSE is a set of latent object embeddings created from…

Modern neural networks are undeniably successful. Numerous studies have investigated how the curvature of loss landscapes can affect the quality of solutions. In this work we consider the Hessian matrix during network training. We reiterate…