相关论文: Populations of Spiking Neurons for Reservoir Compu…

Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have been used to learn models of robot dynamics from data, but…

In this paper we present a novel approach to automatically infer parameters of spiking neural networks. Neurons are modelled as timed automata waiting for inputs on a number of different channels (synapses), for a given amount of time (the…

Ensuring energy-efficient design in neuromorphic computing systems necessitates a tailored architecture combined with algorithmic approaches. This manuscript focuses on enhancing brain-inspired perceptual computing machines through a novel…

While the original goal for developing robots is replacing humans in dangerous and tedious tasks, the final target shall be completely mimicking the human cognitive and motor behaviour. Hence, building detailed computational models for the…

This paper presents a decentralized leader-follower multi-robot formation control based on a reinforcement learning (RL) algorithm applied to a swarm of small educational Sphero robots. Since the basic Q-learning method is known to require…

Understanding cognitive flexibility and task-switching mechanisms in neural systems requires biologically plausible computational models. This tutorial presents a step-by-step approach to constructing a spiking neural network (SNN) that…

Compared to conventional artificial neurons that produce dense and real-valued responses, biologically-inspired spiking neurons transmit sparse and binary information, which can also lead to energy-efficient implementations. Recent research…

A random recurrent neural network, called a reservoir, can be used to learn robot movements conditioned on context inputs that encode task goals. The Learning is achieved by mapping the random dynamics of the reservoir modulated by context…

Reservoir computing - information processing based on untrained recurrent neural networks with random connections - is expected to depend on the nonlinear properties of the neurons and the resulting oscillatory, chaotic, or fixpoint…

Stream data processing has gained progressive momentum with the arriving of new stream applications and big data scenarios. One of the most promising techniques in stream learning is the Spiking Neural Network, and some of them use an…

This work discusses a closed-loop control strategy for complex systems utilizing scarce and streaming data. A discrete embedding space is first built using hash functions applied to the sensor measurements from which a Markov process model…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

This study proposes a hybrid curriculum reinforcement learning (CRL) framework based on a fully spiking neural network (SNN) for 9-degree-of-freedom robotic arms performing target reaching and grasping tasks. To reduce network complexity…

How neural networks in the human brain represent commonsense knowledge, and complete related reasoning tasks is an important research topic in neuroscience, cognitive science, psychology, and artificial intelligence. Although the…

We embed a spiking cerebellar model within an adaptive real-time (RT) control loop that is able to operate a real robotic body (iCub) when performing different vestibulo-ocular reflex (VOR) tasks. The spiking neural network computation,…

Machine learning approaches have recently been leveraged as a substitute or an aid for physical/mathematical modeling approaches to dynamical systems. To develop an efficient machine learning method dedicated to modeling and prediction of…

Mammals can generate autonomous behaviors in various complex environments through the coordination and interaction of activities at different levels of their central nervous system. In this paper, we propose a novel hierarchical learning…

We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework.…

In this paper, we introduce a paradigm for reservoir computing (RC) that leverages a pool of cultured biological neurons as the reservoir substrate, creating a biological reservoir computing (BRC). This system operates similarly to an echo…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…