相关论文: Parameter Optimization and Learning in a Spiking N…

Recent theoretical research has shown that self-adjusting and self-adaptive mechanisms can provably outperform static settings in evolutionary algorithms for binary search spaces. However, the vast majority of these studies focuses on…

This paper presents a Dynamic Vision Sensor (DVS) based system for reasoning about high speed motion. As a representative scenario, we consider the case of a robot at rest reacting to a small, fast approaching object at speeds higher than…

Neuromorphic computing mimics computational principles of the brain in $\textit{silico}$ and motivates research into event-based vision and spiking neural networks (SNNs). Event cameras (ECs) exclusively capture local intensity changes and…

The detection of moving objects is a trivial task performed by vertebrate retinas, yet a complex computer vision task. Object-motion-sensitive ganglion cells (OMS-GC) are specialised cells in the retina that sense moving objects. OMS-GC…

This PhD research introduces three key contributions in the domain of object motion detection: Multi-Hierarchical Spiking Neural Network (MHSNN): A specialized four-layer Spiking Neural Network (SNN) architecture inspired by vertebrate…

Spiking Neural Networks (SNNs) offer a promising energy-efficient alternative to Artificial Neural Networks (ANNs) by utilizing sparse and asynchronous processing through discrete spike-based computation. However, the performance of deep…

Lobula plate/lobula columnar, type 2 (LPLC2) visual projection neurons in the fly's visual system possess highly looming-selective properties, making them ideal for developing artificial collision detection systems. The four dendritic…

Vision-based object tracking is a critical component for achieving autonomous aerial navigation, particularly for obstacle avoidance. Neuromorphic Dynamic Vision Sensors (DVS) or event cameras, inspired by biological vision, offer a…

Using neuromorphic computing for robotics applications has gained much attention in recent year due to the remarkable ability of Spiking Neural Networks (SNNs) for high-precision yet low memory and compute complexity inference when…

Large Language Models (LLMs) show promise for equation discovery, yet their outputs are highly sensitive to prompt phrasing, a phenomenon we term instruction brittleness. Static prompts cannot adapt to the evolving state of a multi-step…

This paper introduces a Spiking Diffusion Policy (SDP) learning method for robotic manipulation by integrating Spiking Neurons and Learnable Channel-wise Membrane Thresholds (LCMT) into the diffusion policy model, thereby enhancing…

Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…

The increasing energy footprint of artificial intelligence systems urges alternative computational models that are both efficient and scalable. Neuromorphic Computing (NC) addresses this challenge by empowering event-driven algorithms that…

Spiking Neural Networks are a recent and new neural network design approach that promises tremendous improvements in power efficiency, computation efficiency, and processing latency. They do so by using asynchronous spike-based data flow,…

Spiking Neural Networks (SNNs) are a biologically plausible neural network model with significant advantages in both event-driven processing and spatio-temporal information processing, rendering SNNs an appealing choice for energyefficient…

Anyone who has tried to swat a fly has likely been frustrated by its remarkable agility.This ability stems from its visual neural perception system, particularly the collision-selective neurons within its small brain.For autonomous robots…

Linear Parameter Varying (LPV) Systems are a well-established class of nonlinear systems with a rich theory for stability analysis, control, and analytical response finding, among other aspects. Although there are works on data-driven…

This paper proposes a perception-shared and swarm trajectory global optimal (STGO) algorithm fused UAVs formation motion planning framework aided by an active sensing system. First, the point cloud received by each UAV is fit by the…

Despite progress developing experimentally-consistent models of insect in-flight sensing and feedback for individual agents, a lack of systematic understanding of the multi-agent and group performance of the resulting bio-inspired sensing…

Training a large-scale deep neural network in a large-scale dataset is challenging and time-consuming. The recent breakthrough of large-batch optimization is a promising way to tackle this challenge. However, although the current advanced…