相关论文: Self learning robot using real-time neural network…

The way how recurrently connected networks of spiking neurons in the brain acquire powerful information processing capabilities through learning has remained a mystery. This lack of understanding is linked to a lack of learning algorithms…

In Human-Robot Collaboration, safety mechanisms such as Speed and Separation Monitoring and Power and Force Limitation dynamically adjust the robot's speed based on human proximity. While essential for risk reduction, these mechanisms…

The fields of artificial intelligence and neuroscience have a long history of fertile bi-directional interactions. On the one hand, important inspiration for the development of artificial intelligence systems has come from the study of…

Objective: Deep learning-based neural decoders have emerged as the prominent approach to enable dexterous and intuitive control of neuroprosthetic hands. Yet few studies have materialized the use of deep learning in clinical settings due to…

Machine learning algorithms have found several applications in the field of robotics and control systems. The control systems community has started to show interest towards several machine learning algorithms from the sub-domains such as…

Training neural networks with reinforcement learning (RL) typically relies on backpropagation (BP), necessitating storage of activations from the forward pass for subsequent backward updates. Furthermore, backpropagating error signals…

The brain is the perfect place to look for inspiration to develop more efficient neural networks. The inner workings of our synapses and neurons provide a glimpse at what the future of deep learning might look like. This paper serves as a…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

Learning from humans allows non-experts to program robots with ease, lowering the resources required to build complex robotic solutions. Nevertheless, such data-driven approaches often lack the ability to provide guarantees regarding their…

It is true that the "best" neural network is not necessarily the one with the most "brain-like" behavior. Understanding biological intelligence, however, is a fundamental goal for several distinct disciplines. Translating our understanding…

The process of training an artificial neural network involves iteratively adapting its parameters so as to minimize the error of the network's prediction, when confronted with a learning task. This iterative change can be naturally…

In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…

Deep learning is the backbone of artificial intelligence technologies, and it can be regarded as a kind of multilayer feedforward neural network. An essence of deep learning is information propagation through layers. This suggests that…

The results of training a neural network are heavily dependent on the architecture chosen; and even a modification of only its size, however small, typically involves restarting the training process. In contrast to this, we begin training…

"Deep Learning"/"Deep Neural Nets" is a technological marvel that is now increasingly deployed at the cutting-edge of artificial intelligence tasks. This dramatic success of deep learning in the last few years has been hinged on an enormous…

In the brain, learning signals change over time and synaptic location, and are applied based on the learning history at the synapse, in the complex process of neuromodulation. Learning in artificial neural networks, on the other hand, is…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…

We present a general framework to autonomously achieve a task, where autonomy is acquired by learning sensorimotor patterns of a robot, while it is interacting with its environment. To accomplish the task, using the learned sensorimotor…

Descent methods for deep networks are notoriously capricious: they require careful tuning of step size, momentum and weight decay, and which method will work best on a new benchmark is a priori unclear. To address this problem, this paper…