相关论文: Learning and Transfer of Modulated Locomotor Contr…

Modern communication systems rely on accurate channel estimation to achieve efficient and reliable transmission of information. As the communication channel response is highly related to the user's location, one can use a neural network to…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

Biological studies reveal that neural circuits located at the spinal cord called central pattern generator (CPG) oscillates and generates rhythmic signals, which are the underlying mechanism responsible for rhythmic locomotion behaviors of…

The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…

Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…

End-to-end learning from sensory data has shown promising results in autonomous driving. While employing many sensors enhances world perception and should lead to more robust and reliable behavior of autonomous vehicles, it is challenging…

We describe an ongoing project in learning to perform primitive actions from demonstrations using an interactive interface. In our previous work, we have used demonstrations captured from humans performing actions as training samples for a…

To proactively navigate and traverse various terrains, active use of visual perception becomes indispensable. We aim to investigate the feasibility and performance of using sparse visual observations to achieve perceptual locomotion over a…

Despite a slow neuromuscular system, humans easily outperform modern robot technology, especially in physical contact tasks. How is this possible? Biological evidence indicates that motor control of biological systems is achieved by a…

Insects have tiny brains but complicated visual systems for motion perception. A handful of insect visual neurons have been computationally modeled and successfully applied for robotics. How different neurons collaborate on motion…

This work examines the presence of modularity in pre-trained Transformers, a feature commonly found in human brains and thought to be vital for general intelligence. In analogy to human brains, we consider two main characteristics of…

In primate brains, tactile and proprioceptive inputs are relayed to the somatosensory cortex which is known for somatotopic representations, or, "homunculi". Our research centers on understanding the mechanisms of the formation of these and…

Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and necessitates a control strategy specifically for modular robots.…

Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have been used to learn models of robot dynamics from data, but…

Due to recent advances - compute, data, models - the role of learning in autonomous systems has expanded significantly, rendering new applications possible for the first time. While some of the most significant benefits are obtained in the…

Neuronal spikes directly drive muscles and endow animals with agile movements, but applying the spike-based control signals to actuators in artificial sensor-motor systems inevitably causes a collapse of learning. We developed a system that…

The cortical processes involved in learning are not well understood. Recent experiments have studied population-level response in the orofacial somatosensory (S1) and motor (S1) cortices of rhesus macaque monkeys during adaptation to a…

We argue that hierarchical methods can become the key for modular robots achieving reconfigurability. We present a hierarchical approach for modular robots that allows a robot to simultaneously learn multiple tasks. Our evaluation results…

We learn about the world from a diverse range of sensory information. Automated systems lack this ability as investigation has centred on processing information presented in a single form. Adapting architectures to learn from multiple…

Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…