Related papers: Adaptive Robotic Arm Control with a Spiking Recurr…

In the paper, we show how scalable, low-cost trunk-like robotic arms can be constructed using only basic 3D-printing equipment and simple electronics. The design is based on uniform, stackable joint modules with three degrees of freedom…

The growing popularity of Spiking Neural Networks (SNNs) and their applications has led to a significant fast-paced increase of neuromorphic architectures capable of mimicking the spike-based data processing typical of biological neurons.…

Unlike traditional artificial neural networks (ANNs), biological neuronal networks solve complex cognitive tasks with sparse neuronal activity, recurrent connections, and local learning rules. These mechanisms serve as design principles in…

This study proposes a hybrid curriculum reinforcement learning (CRL) framework based on a fully spiking neural network (SNN) for 9-degree-of-freedom robotic arms performing target reaching and grasping tasks. To reduce network complexity…

In this paper, we explore the ability of a robot arm to learn the underlying operation space defined by the positions (x, y, z) that the arm's end-effector can reach, including disturbances, by deploying and thoroughly evaluating a Spiking…

Air hockey demands split-second decisions at high puck velocities, a challenge we address with a compact network of spiking neurons running on a mixed-signal analog/digital neuromorphic processor. By co-designing hardware and learning…

A robust real-world deployment of autonomous edge devices requires on-chip adaptation to user-, environment- and task-induced variability. Due to on-chip memory constraints, prior learning devices were limited to static stimuli with no…

This paper presents a multimodal control framework based on spiking neural networks (SNNs) for robotic arms aboard space stations. It is designed to cope with the constraints of limited onboard resources while enabling autonomous…

Spiking Neural Networks (SNNs), with their inherent recurrence, offer an efficient method for processing the asynchronous temporal data generated by Dynamic Vision Sensors (DVS), making them well-suited for event-based vision applications.…

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…

Biological neurons communicate with a sparing exchange of pulses - spikes. It is an open question how real spiking neurons produce the kind of powerful neural computation that is possible with deep artificial neural networks, using only so…

Spiking Neural Networks (SNN) are an emerging type of biologically plausible and efficient Artificial Neural Network (ANN). This work presents the development of a hardware accelerator for a SNN for high-performance inference, targeting a…

Efficient and robust control using spiking neural networks (SNNs) is still an open problem. Whilst behaviour of biological agents is produced through sparse and irregular spiking patterns, which provide both robust and efficient control,…

Inspired by more detailed modeling of biological neurons, Spiking neural networks (SNNs) have been investigated both as more biologically plausible and potentially more powerful models of neural computation, and also with the aim of…

Spiking neural networks (SNNs) are being explored in an attempt to mimic brain's capability to learn and recognize at low power. Crossbar architecture with highly scalable Resistive RAM or RRAM array serving as synaptic weights and neuronal…

Spiking Neural Networks (SNNs) offer a biologically inspired computational paradigm, enabling energy-efficient data processing through spike-based information transmission. Despite notable advancements in hardware for SNNs, spike encoding…

The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The…

As spiking neural networks (SNNs) are deployed increasingly in real-world efficiency critical applications, the security concerns in SNNs attract more attention. Currently, researchers have already demonstrated an SNN can be attacked with…

The deployment of Artificial Intelligence on edge devices (TinyML) is often constrained by the high power consumption and latency associated with traditional Artificial Neural Networks (ANNs) and their reliance on intensive Matrix-Multiply…

Spiking recurrent neural networks (RNNs) are a promising tool for solving a wide variety of complex cognitive and motor tasks, due to their rich temporal dynamics and sparse processing. However training spiking RNNs on dedicated…