相关论文: Neuronal Circuit Policies

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

The nervous system of the nematode soil worm Caenorhabditis elegans exhibits remarkable complexity despite the worm's small size. A general challenge is to better understand the relationship between neural organization and neural activity…

Humans and animals exhibit a range of interesting behaviors in dynamic environments, and it is unclear how our brains actively reformat this dense sensory information to enable these behaviors. Experimental neuroscience is undergoing a…

The Neural Turing Machine (NTM) is more expressive than all previously considered models because of its external memory. It can be viewed as a broader effort to use abstract external Interfaces and to learn a parametric model that interacts…

In this paper, we present the Role Playing Learning (RPL) scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks (NN) are constructed to parameterize a stochastic policy that…

The advancement of robots, particularly those functioning in complex human-centric environments, relies on control solutions that are driven by machine learning. Understanding how learning-based controllers make decisions is crucial since…

In this work we propose Neuro-Nav, an open-source library for neurally plausible reinforcement learning (RL). RL is among the most common modeling frameworks for studying decision making, learning, and navigation in biological organisms. In…

We develop a biophysically realistic model of the nematode C. elegans that includes: (i) its muscle structure and activation, (ii) key connectomic activation circuitry, and (iii) a weighted and time-dynamic proprioception. In combination,…

Reinforcement learning (RL) has demonstrated its ability to solve high dimensional tasks by leveraging non-linear function approximators. However, these successes are mostly achieved by 'black-box' policies in simulated domains. When…

In motor neuroscience, artificial recurrent neural networks models often complement animal studies. However, most modeling efforts are limited to data-fitting, and the few that examine virtual embodied agents in a reinforcement learning…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

This paper introduces the ``rebound Winner-Take-All (RWTA)" motif as the basic element of a scalable neuromorphic control architecture. From the cellular level to the system level, the resulting architecture combines the reliability of…

Practitioners often rely on compute-intensive domain randomization to ensure reinforcement learning policies trained in simulation can robustly transfer to the real world. Due to unmodeled nonlinearities in the real system, however, even…

In the fields of computation and neuroscience, much is still unknown about the underlying computations that enable key cognitive functions including learning, memory, abstraction and behavior. This paper proposes a mathematical and…

We introduce neural cortical maps, a continuous and compact neural representation for cortical feature maps, as an alternative to traditional discrete structures such as grids and meshes. It can learn from meshes of arbitrary size and…

Recent advances in Reinforcement Learning (RL) largely benefit from the inclusion of Deep Neural Networks, boosting the number of novel approaches proposed in the field of Deep Reinforcement Learning (DRL). These techniques demonstrate the…

Multi-agent robotic systems are increasingly operating in real-world environments in close proximity to humans, yet are largely controlled by policy models with inscrutable deep neural network representations. We introduce a method for…

Learning from complex demonstrations is challenging, especially when the demonstration consists of different strategies. A popular approach is to use a deep neural network to perform imitation learning. However, the structure of that deep…

In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…