Related papers: Swim: A General-Purpose, High-Performing, and Effi…

Recent advances in AI and robotics have claimed many incredible results with deep learning, yet no work to date has applied deep learning to the problem of liquid perception and reasoning. In this paper, we apply fully-convolutional deep…

Activation maximization (AM) strives to generate optimal input stimuli, revealing features that trigger high responses in trained deep neural networks. AM is an important method of explainable AI. We demonstrate that AM fails to produce…

This work contributes to the development of a new data-driven method (D-DM) of feedforward neural networks (FNNs) learning. This method was proposed recently as a way of improving randomized learning of FNNs by adjusting the network…

Recent advances in transformer-based Large Language Models (LLMs) have demonstrated remarkable capabilities across various tasks. However, their quadratic computational complexity concerning sequence length remains a significant bottleneck…

Deep Reinforcement Learning (RL) has emerged as a promising method to develop humanoid robot locomotion controllers. Despite the robust and stable locomotion demonstrated by previous RL controllers, their behavior often lacks the natural…

Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…

Swim extends the actor model to support applications composed of linked distributed actors that continuously analyze boundless streams of events from millions of sources, to respond in-sync with the real-world. Swim builds a running…

The success of deep networks has been attributed in part to their expressivity: per parameter, deep networks can approximate a richer class of functions than shallow networks. In ReLU networks, the number of activation patterns is one…

Despite the unresolved 'dying ReLU problem', the classical ReLU activation function (AF) has been extensively applied in Deep Neural Networks (DNN), in particular Convolutional Neural Networks (CNN), for image classification. The common…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Swimming microrobots are increasingly developed with complex materials and dynamic shapes and are expected to operate in complex environments in which the system dynamics are difficult to model and positional control of the microrobot is…

Many industrial and real life problems exhibit highly nonlinear periodic behaviors and the conventional methods may fall short of finding their analytical or closed form solutions. Such problems demand some cutting edge computational tools…

Robotic manipulation in high-precision tasks is essential for numerous industrial and real-world applications where accuracy and speed are required. Yet current diffusion-based policy learning methods generally suffer from low computational…

Recently, recurrent large language models (Recurrent LLMs) with linear computational complexity have re-emerged as efficient alternatives to self-attention-based LLMs (Self-Attention LLMs), which have quadratic complexity. However,…

Architectures that incorporate Computing-in-Memory (CiM) using emerging non-volatile memory (NVM) devices have become strong contenders for deep neural network (DNN) acceleration due to their impressive energy efficiency. Yet, a significant…

Humans practice slow thinking before performing actual actions when handling complex tasks in the physical world. This thinking paradigm, recently, has achieved remarkable advancement in boosting Large Language Models (LLMs) to solve…

Even though Deep Reinforcement Learning (DRL) showed outstanding results in the fields of Robotics and Games, it is still challenging to implement it in the optimization of industrial processes like wastewater treatment. One of the…

We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…

In the current research of neural networks, the activation function is manually specified by human and not able to change themselves during training. This paper focus on how to make the activation function trainable for deep neural…

Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…