相关论文: Real time implementation of CTRNN and BPTT algorit…

We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…

Spiking Neural Networks (SNNs) are promising energy-efficient models for neuromorphic computing. For training the non-differentiable SNN models, the backpropagation through time (BPTT) with surrogate gradients (SG) method has achieved high…

The paper presents a study of an adaptive approach to lateral skew control for an experimental railway stand. The preliminary experiments with the real experimental railway stand and simulations with its 3-D mechanical model, indicates…

Equilibrium Propagation (EP) is a biologically inspired alternative algorithm to backpropagation (BP) for training neural networks. It applies to RNNs fed by a static input x that settle to a steady state, such as Hopfield networks. EP is…

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,…

This work focuses the tracking control problem for nonlinear systems subjected to unknown external disturbances. Inspired by contraction theory, a neural network-dirven CCM synthesis is adopted to obtain a feedback controller that could…

In this paper, we present the Role Playing Learning (RPL) scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks (NN) are constructed to parameterize a stochastic policy that…

Recurrent neural networks (RNNs) can be interpreted as discrete-time state-space models, where the state evolution corresponds to an infinite-impulse-response (IIR) filtering operation governed by both feedforward weights and recurrent…

The control of a tail-sitter aircraft is a challenging task, especially during transition maneuver where the lift and drag forces are highly nonlinear. In this work, we implement a Neural Network (NN) capable of estimate such…

Accurately modeling quadrotor's system dynamics is critical for guaranteeing agile, safe, and stable navigation. The model needs to capture the system behavior in multiple flight regimes and operating conditions, including those producing…

We propose a novel {\it Equilibrated Recurrent Neural Network} (ERNN) to combat the issues of inaccuracy and instability in conventional RNNs. Drawing upon the concept of autapse in neuroscience, we propose augmenting an RNN with a…

This study introduces a unified control framework that addresses the challenge of precise quadruped locomotion with unknown payloads, named as online payload identification-based physics-informed neural network predictive control…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…

Offline post-training adapts a pretrained robot policy to a target dataset by supervised regression on recorded actions. In practice, robot datasets are heterogeneous: they mix embodiments, camera setups, and demonstrations of varying…

We introduce Backpropagation Through Time and Space (BPTTS), a method for training a recurrent spatio-temporal neural network, that is used in a homogeneous multi-agent reinforcement learning (MARL) setting to learn numerical methods for…

Ocean current, fluid mechanics, and many other spatio-temporal physical dynamical systems are essential components of the universe. One key characteristic of such systems is that certain physics laws -- represented as ordinary/partial…

Backpropagation (BP) of errors is the backbone training algorithm for artificial neural networks (ANNs). It updates network weights through gradient descent to minimize a loss function representing the mismatch between predictions and…

Deep Neural Networks (DNNs) are increasingly used in control applications due to their powerful function approximation capabilities. However, many existing formulations focus primarily on tracking error convergence, often neglecting the…

This paper works on Binary Neural Networks (BNNs), a promising avenue for efficient deep learning, offering significant reductions in computational overhead and memory footprint to full precision networks. However, the challenge of…

We introduce the "NoBackTrack" algorithm to train the parameters of dynamical systems such as recurrent neural networks. This algorithm works in an online, memoryless setting, thus requiring no backpropagation through time, and is scalable,…