相关论文: Recurrent Control Nets for Deep Reinforcement Lear…

In this work, we analyze the capabilities and practical limitations of neural networks (NNs) for sequence-based signal processing which can be seen as an omnipresent property in almost any modern communication systems. In particular, we…

Models based on deep convolutional networks have dominated recent image interpretation tasks; we investigate whether models which are also recurrent, or "temporally deep", are effective for tasks involving sequences, visual and otherwise.…

Control policies in deep reinforcement learning are often implemented with fixed-capacity multilayer perceptrons trained by backpropagation, which lack structural plasticity and depend on global error signals. This paper introduces the…

Graph Convolutional Networks (GCNs) have attracted increasing interests for the task of skeleton-based action recognition. The key lies in the design of the graph structure, which encodes skeleton topology information. In this paper, we…

Controlling a non-statically stable biped is a difficult problem largely due to the complex hybrid dynamics involved. Recent work has demonstrated the effectiveness of reinforcement learning (RL) for simulation-based training of neural…

Based on the predictive coding theory in neuroscience, we designed a bi-directional and recurrent neural net, namely deep predictive coding networks (PCN). It has feedforward, feedback, and recurrent connections. Feedback connections from a…

Linear Quadratic Regulator (LQR) is often combined with feedback linearization (FBL) for nonlinear systems that have the nonlinearity additive to the input. Conventional approaches estimate and cancel the nonlinearity based on the first…

Traffic forecasting is a problem of intelligent transportation systems (ITS) and crucial for individuals and public agencies. Therefore, researches pay great attention to deal with the complex spatio-temporal dependencies of traffic system…

Neural operators have emerged as powerful tools for learning solution operators of partial differential equations. However, in time-dependent problems, standard training strategies such as teacher forcing introduce a mismatch between…

We introduce a parameter sharing scheme, in which different layers of a convolutional neural network (CNN) are defined by a learned linear combination of parameter tensors from a global bank of templates. Restricting the number of templates…

Estimating accurate forward and inverse dynamics models is a crucial component of model-based control for sophisticated robots such as robots driven by hydraulics, artificial muscles, or robots dealing with different contact situations.…

The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration often compromises the system's control performance in…

This paper shows that ResNets, NeuralODEs, and CT-RNNs, are particular neural regulatory networks (NRNs), a biophysical model for the nonspiking neurons encountered in small species, such as the C.elegans nematode, and in the retina of…

Short-term memory is essential for cognitive processing, yet our understanding of its neural mechanisms remains unclear. Neuroscience has long focused on how sequential activity patterns, where neurons fire one after another within large…

Convolutional neural networks (CNNs) have achieved great success on grid-like data such as images, but face tremendous challenges in learning from more generic data such as graphs. In CNNs, the trainable local filters enable the automatic…

In a previous work we have detailed the requirements to obtain a maximal performance benefit by implementing fully connected deep neural networks (DNN) in form of arrays of resistive devices for deep learning. This concept of Resistive…

Recurrent Neural Networks (RNN) are known as powerful models for handling sequential data, and especially widely utilized in various natural language processing tasks. In this paper, we propose Contextual Recurrent Units (CRU) for enhancing…

Graph Neural Networks (GNNs) are a promising deep learning approach for circumventing many real-world problems on graph-structured data. However, these models usually have at least one of four fundamental limitations: over-smoothing,…

This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized…

Multi-task Vehicle Routing Problems (VRPs) aim to minimize routing costs while satisfying diverse constraints. Existing solvers typically adopt a unified reinforcement learning (RL) framework to learn generalizable patterns across tasks.…