相关论文: Can a Compact Neuronal Circuit Policy be Re-purpos…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

In the brain, information is encoded, transmitted and used to inform behaviour at the level of timing of action potentials distributed over population of neurons. To implement neural-like systems in silico, to emulate neural function, and…

This paper introduces a learning-based control framework for a soft robotic actuator system designed to modulate intracranial pressure (ICP) waveforms, which is essential for studying cerebrospinal fluid dynamics and pathological processes…

Neural Cellular Automata (NCA) represent a powerful framework for modeling biological self-organization, extending classical rule-based systems with trainable, differentiable (or evolvable) update rules that capture the adaptive…

Backpropagation (BP) is the standard algorithm for training the deep neural networks that power modern artificial intelligence including large language models. However, BP is energy inefficient and unlikely to be implemented by the brain.…

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…

In this paper, we propose a novel framework for approximating the explicit MPC law for linear parameter-varying systems using supervised learning. In contrast to most existing approaches, we not only learn the control policy, but also a…

This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation. Traditional navigation approaches rely on global maps of the…

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…

We tackle the problem of generalization to unseen configurations for dynamic tasks in the real world while learning from high-dimensional image input. The family of nonlinear dynamical system-based methods have successfully demonstrated…

Learning-based model predictive control (MPC) is an approach designed to reduce the computational cost of MPC. In this paper, a constrained deep neural network (DNN) design is proposed to learn MPC policy for nonlinear systems. Using…

Neural cellular automata (Neural CA) are a recent framework used to model biological phenomena emerging from multicellular organisms. In these systems, artificial neural networks are used as update rules for cellular automata. Neural CA are…

This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…

Neuromorphic engineering makes use of mixed-signal analog and digital circuits to directly emulate the computational principles of biological brains. Such electronic systems offer a high degree of adaptability, robustness, and energy…

Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation…

Traditional dynamic models of continuum robots are in general computationally expensive and not suitable for real-time control. Recent approaches using learning-based methods to approximate the dynamic model of continuum robots for control…

The human brain can self-organize rich and diverse sparse neural pathways to incrementally master hundreds of cognitive tasks. However, most existing continual learning algorithms for deep artificial and spiking neural networks are unable…

My research objective is to explicitly bridge the gap between high computational performance and low power dissipation of robot on-board hardware by designing a bio-inspired tapered whisker neuromorphic computing (also called reservoir…

Learned Neural Network based policies have shown promising results for robot navigation. However, most of these approaches fall short of being used on a real robot due to the extensive simulated training they require. These simulations lack…

A long-standing engineering problem, the control of soft robots is difficult because of their highly non-linear, heterogeneous, anisotropic, and distributed nature. Here, bridging engineering and biology, a neural reservoir is employed for…