相关论文: Online learning of neural networks based on a mode…

Self-replication is a key aspect of biological life that has been largely overlooked in Artificial Intelligence systems. Here we describe how to build and train self-replicating neural networks. The network replicates itself by learning to…

Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…

We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…

Theoretical understanding of deep learning remains elusive despite its empirical success. In this study, we propose a novel "synaptic field theory" that describes the training dynamics of synaptic weights and biases in the continuum limit.…

The optimal tracking problem is addressed in the robotics literature by using a variety of robust and adaptive control approaches. However, these schemes are associated with implementation limitations such as applicability in uncertain…

We propose a new way of training neural networks, with the goal of reducing training cost. Our method uses approximate predicted gradients instead of the full gradients that require an expensive backward pass. We derive a…

Robust control design for quantum systems is a challenging and key task for practical technology. In this work, we apply neural networks to learn the control problem for the semiclassical Schr\"odinger equation, where the control variable…

A critical goal of adaptive control is enabling robots to rapidly adapt in dynamic environments. Recent studies have developed a meta-learning-based adaptive control scheme, which uses meta-learning to extract nonlinear features…

We derive a synaptic weight update rule for learning temporally precise spike train to spike train transformations in multilayer feedforward networks of spiking neurons. The framework, aimed at seamlessly generalizing error backpropagation…

This work concerns the application of physics-informed neural networks to the modeling and control of complex robotic systems. Achieving this goal required extending Physics Informed Neural Networks to handle non-conservative effects. We…

In this paper, we propose a novel meta learning approach for automatic channel pruning of very deep neural networks. We first train a PruningNet, a kind of meta network, which is able to generate weight parameters for any pruned structure…

Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…

The fundamental lemma from behavioral systems theory yields a data-driven non-parametric system representation that has shown great potential for the data-efficient control of unknown linear and weakly nonlinear systems, even in the…

We explore artificial neural networks as a tool for the reconstruction of spectral functions from imaginary time Green's functions, a classic ill-conditioned inverse problem. Our ansatz is based on a supervised learning framework in which…

Example weighting algorithm is an effective solution to the training bias problem, however, most previous typical methods are usually limited to human knowledge and require laborious tuning of hyperparameters. In this paper, we propose a…

Online learning and model reference adaptive control have many interesting intersections. One area where they differ however is in how the algorithms are analyzed and what objective or metric is used to discriminate "good" algorithms from…

Today artificial neural networks are applied in various fields - engineering, data analysis, robotics. While they represent a successful tool for a variety of relevant applications, mathematically speaking they are still far from being…

The binary perceptron is the simplest artificial neural network formed by $N$ input units and one output unit, with the neural states and the synaptic weights all restricted to $\pm 1$ values. The task in the teacher--student scenario is to…

Knowledge embedded in the weights of the artificial neural network can be used to improve the network structure, such as in network compression. However, the knowledge is set up by hand, which may not be very accurate, and relevant…

Deep neural networks (DNNs), trained with gradient-based optimization and backpropagation, are currently the primary tool in modern artificial intelligence, machine learning, and data science. In many applications, DNNs are trained offline,…