相关论文: Sensory feedback in a bump attractor model of path…

Autonomous navigation in unfamiliar environments requires robots to simultaneously explore, localise, and plan under uncertainty, without relying on predefined maps or extensive training. We present Active Inference MAPping and Planning…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of…

In recent years, the interdisciplinary research between information science and neuroscience has been a hotspot. In this paper, based on recent biological findings, we proposed a new model to mimic visual information processing, motor…

We present a representation learning algorithm that learns a low-dimensional latent dynamical system from high-dimensional \textit{sequential} raw data, e.g., video. The framework builds upon recent advances in amortized inference methods…

Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse…

Many animals meander in environments and avoid collisions. How the underlying neuronal machinery can yield robust behaviour in a variety of environments remains unclear. In the fly brain, motion-sensitive neurons indicate the presence of…

Emergent communication offers insight into how agents develop shared structured representations, yet most research assumes homogeneous modalities or aligned representational spaces, overlooking the perceptual heterogeneity of real-world…

Biological sensory systems, from \textit{E.~coli} chemotaxis to sensory neurons in \textit{C.~elegans}, achieve reliable adaptation over wide dynamic ranges despite operating in strongly noisy and overdamped regimes. Here, we present a…

Spatial cognition enables adaptive goal-directed behavior by constructing internal models of space. Robust biological systems consolidate spatial knowledge into three interconnected forms: \textit{landmarks} for salient cues, \textit{route…

Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Self-sustained, elevated neuronal activity persisting on time scales of ten seconds or longer is thought to be vital for aspects of working memory, including brain representations of real space. Continuous-attractor neural networks, one of…

Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…

The amount of digitally available but heterogeneous information about the world is remarkable, and new technologies such as self-driving cars, smart homes, or the internet of things may further increase it. In this paper we present…

The need for multimodal data integration arises naturally when multiple complementary sets of features are measured on the same sample. Under a dependent multifactor model, we develop a fully data-driven orchestrated approximate message…

Animal behaviour depends on learning to associate sensory stimuli with the desired motor command. Understanding how the brain orchestrates the necessary synaptic modifications across different brain areas has remained a longstanding puzzle.…

This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…