相关论文: Molecular Spiders with Memory

Modularisation, repetition, and symmetry are structural features shared by almost all biological neural networks. These features are very unlikely to be found by the means of structural evolution of artificial neural networks. This paper…

Achieving effective locomotion on diverse terrestrial substrates can require subtle changes of limb kinematics. Biologically inspired legged robots (physical models of organisms) have shown impressive mobility on hard ground but suffer…

The plasticity of the conduction delay between neurons plays a fundamental role in learning. However, the exact underlying mechanisms in the brain for this modulation is still an open problem. Understanding the precise adjustment of…

We successfully evolved a neural network controller that produces dynamic walking in a simulated bipedal robot with compliant actuators, a difficult control problem. The evolutionary evaluation uses a detailed software simulation of a…

In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…

Polymer translocation is a promising strategy for the next-generation DNA sequencing technologies. The use of biological and synthetic nano-pores, however, still suffers from serious drawbacks. In particular, the width of the membrane layer…

Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…

Single molecule experiments on bacteriophages show an exponential scaling for the dependence of mobility on the length of DNA within the capsid. It has been suggested that this could be due to the "capstan mechanism" -- the exponential…

Due to the asymmetric nature of the nucleotides, the extant informational biomolecule, DNA, is constrained to replicate unidirectionally on a template. As a product of molecular evolution that sought to maximize replicative potential, DNA's…

Artificially evolving foraging behavior in simulated legged animals has proved to be a notoriously difficult task. Here, we co-evolve the morphology and controller for virtual organisms in a three-dimensional physically realistic…

Given a connected graph $G$ with some subset of its vertices excited and a fixed target vertex, in the geodesic-biased random walk on $G$, a random walker moves as follows: from an unexcited vertex, she moves to a uniformly random…

We use a one-dimensional random walk on $D$-dimensional hyper-spheres to determine the critical behavior of statistical systems in hyper-spherical geometries. First, we demonstrate the properties of such walk by studying the phase diagram…

Learning how to walk is a sophisticated neurological task for most animals. In order to walk, the brain must synthesize multiple cortices, neural circuits, and diverse sensory inputs. Some animals, like humans, imitate surrounding…

We study a one-dimensional random walk with memory. The behavior of the walker is modified with respect to the simple symmetric random walk (SSRW) only when he is at the maximum distance ever reached from his starting point (home). In this…

Biomimetic membranes in contact with a planar substrate or a second membrane are studied theoretically. The membranes contain specific adhesion molecules (stickers) which are attracted by the second surface. In the absence of stickers, the…

Network systems can exhibit memory effects in which the interactions between different pairs of nodes adapt in time, leading to the emergence of preferred connections, patterns, and sub-networks. To a first approximation, this memory can be…

We study the properties of least time trajectories for particles moving on a two dimensional surface which consists of piecewise homogeneous regions. The particles are assumed to move with different constant speeds on different regions and…

Memories are stored, retained, and recollected through complex, coupled processes operating on multiple timescales. To understand the computational principles behind these intricate networks of interactions we construct a broad class of…

In this paper, we introduce a variation of the elephant random walk whose steps are polynomially decaying. At each time $k$, the walker's step size is $k^{-\gamma}$ with $\gamma>0$. We investigate effects of the step size exponent $\gamma$…

Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…