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As robots become smarter and more ubiquitous, optimizing the power consumption of intelligent compute becomes imperative towards ensuring the sustainability of technological advancements. Neuromorphic computing hardware makes use of…

Recently, equivariant neural network models have been shown to improve sample efficiency for tasks in computer vision and reinforcement learning. This paper explores this idea in the context of on-robot policy learning in which a policy…

The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…

As robotic arm applications expand beyond traditional industrial settings into service-oriented domains such as catering, household and retail, existing control algorithms struggle to achieve the level of agile manipulation required in…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

As learning-based robotic controllers are typically trained offline and deployed with fixed parameters, their ability to cope with unforeseen changes during operation is limited. Biologically inspired, this work presents a framework for…

Neuromorphic computing systems are set to revolutionize energy-constrained robotics by achieving orders-of-magnitude efficiency gains, while enabling native temporal processing. Spiking Neural Networks (SNNs) represent a promising…

Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…

Robotic vision introduces requirements for real-time processing of fast-varying, noisy information in a continuously changing environment. In a real-world environment, convenient assumptions, such as static camera systems and deep learning…

Biological spiking neural networks (SNNs) can temporally encode information in their outputs, e.g. in the rank order in which neurons fire, whereas artificial neural networks (ANNs) conventionally do not. As a result, models of SNNs for…

Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…

Recent work has shown that dopamine-modulated STDP can solve many of the issues associated with reinforcement learning, such as the distal reward problem. Spiking neural networks provide a useful technique in implementing reinforcement…

In the paper, we show how scalable, low-cost trunk-like robotic arms can be constructed using only basic 3D-printing equipment and simple electronics. The design is based on uniform, stackable joint modules with three degrees of freedom…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

The efficiency of modern machine intelligence depends on high accuracy with minimal computational cost. In spiking neural networks (SNNs), synaptic delays are crucial for encoding temporal structure, yet existing models treat them as fully…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Neuromorphic computing has recently gained momentum with the emergence of various neuromorphic processors. As the field advances, there is an increasing focus on developing training methods that can effectively leverage the unique…

Trajectory planning in robotics is understood as generating a sequence of joint configurations that will lead a robotic agent, or its manipulator, from an initial state to the desired final state, thus completing a manipulation task while…

Spiking neural networks (SNNs) are brain-inspired mathematical models with the ability to process information in the form of spikes. SNNs are expected to provide not only new machine-learning algorithms, but also energy-efficient…

Integrating autonomous mobile robots into human environments requires human-like decision-making and energy-efficient, event-based computation. Despite progress, neuromorphic methods are rarely applied to Deep Reinforcement Learning (DRL)…