Related papers: SDP: Spiking Diffusion Policy for Robotic Manipula…
The problem of training spiking neural networks (SNNs) is a necessary precondition to understanding computations within the brain, a field still in its infancy. Previous work has shown that supervised learning in multi-layer SNNs enables…
Synaptic delays play a crucial role in biological neuronal networks, where their modulation has been observed in mammalian learning processes. In the realm of neuromorphic computing, although spiking neural networks (SNNs) aim to emulate…
Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…
Spiking Neural Networks (SNNs) are distributed trainable systems whose computing elements, or neurons, are characterized by internal analog dynamics and by digital and sparse synaptic communications. The sparsity of the synaptic spiking…
Diffusion-based imitation learning has shown strong promise for robot manipulation. However, most existing policies condition only on the current observation or a short window of recent observations, limiting their ability to resolve…
Spiking neural networks (SNN) are considered as a perspective basis for performing all kinds of learning tasks - unsupervised, supervised and reinforcement learning. Learning in SNN is implemented through synaptic plasticity - the rules…
The backpropagation algorithm has promoted the rapid development of deep learning, but it relies on a large amount of labeled data and still has a large gap with how humans learn. The human brain can quickly learn various conceptual…
Spiking Neural Networks (SNNs), recognized for their biological plausibility and energy efficiency, employ sparse and asynchronous spikes for communication. However, the training of SNNs encounters difficulties coming from…
Spiking neural networks (SNNs) are distributed trainable systems whose computing elements, or neurons, are characterized by internal analog dynamics and by digital and sparse synaptic communications. The sparsity of the synaptic spiking…
Several learning rules for synaptic plasticity, that depend on either spike timing or internal state variables, have been proposed in the past imparting varying computational capabilities to Spiking Neural Networks. Due to design…
Spiking Neural Networks (SNN) are energy-efficient computing architectures that exchange spikes for processing information, unlike classical Artificial Neural Networks (ANN). Due to this, SNNs are better suited for real-life deployments.…
Spiking Neural Networks (SNNs) are brain-inspired, event-driven machine learning algorithms that have been widely recognized in producing ultra-high-energy-efficient hardware. Among existing SNNs, unsupervised SNNs based on synaptic…
Spiking Neural Networks (SNNs) operate with asynchronous discrete events (or spikes) which can potentially lead to higher energy-efficiency in neuromorphic hardware implementations. Many works have shown that an SNN for inference can be…
Bio-inspired spiking neural networks (SNNs), operating with asynchronous binary signals (or spikes) distributed over time, can potentially lead to greater computational efficiency on event-driven hardware. The state-of-the-art SNNs suffer…
Spiking Neural Networks (SNNs) offer a promising and energy-efficient alternative to conventional neural networks, thanks to their sparse binary activation. However, they face challenges regarding memory and computation overhead due to…
Recent research on robot manipulation based on Behavior Cloning (BC) has made significant progress. By combining diffusion models with BC, diffusion policiy has been proposed, enabling robots to quickly learn manipulation tasks with high…
The prevailing of artificial intelligence-of-things calls for higher energy-efficient edge computing paradigms, such as neuromorphic agents leveraging brain-inspired spiking neural network (SNN) models based on spatiotemporally sparse…
Despite the rapid progress of neuromorphic computing, inadequate capacity and insufficient representation power of spiking neural networks (SNNs) severely restrict their application scope in practice. Residual learning and shortcuts have…
Spiking Neural Networks (SNNs) offer a promising alternative to traditional deep learning frameworks, since they provide higher computational efficiency due to event-driven information processing. SNNs distribute the analog values of pixel…
Neuromorphic computing is an emerging technology enabling low-latency and energy-efficient signal processing. A key algorithmic tool in neuromorphic computing is spiking neural networks (SNNs). SNNs are biologically inspired neural networks…