相关论文: Learning over time using a neuromorphic adaptive c…

In this work we present a novel internal clock based space-time neural network for motion speed recognition. The developed system has a spike train encoder, a Spiking Neural Network (SNN) with internal clocking behaviors, a pattern…

In this work, a spiking neural network (SNN) is proposed for approximating differential sensorimotor maps of robotic systems. The computed model is used as a local Jacobian-like projection that relates changes in sensor space to changes in…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Spiking Neural Networks (SNNs) offer biologically inspired, energy-efficient alternatives to traditional Deep Neural Networks (DNNs) for real-time control systems. However, their training presents several challenges, particularly for…

Spiking Neural Network (SNN), as a brain-inspired and energy-efficient network, is currently facing the pivotal challenge of exploring a suitable and efficient learning framework. The predominant training methodologies, namely…

Optimizing the body and brain of a robot is a coupled challenge: the morphology determines what control strategies are effective, while the control parameters influence how well the morphology performs. This joint optimization can be done…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

Autonomous embedded systems (e.g., robots) typically necessitate intelligent computation with low power/energy processing for completing their tasks. Such requirements can be fulfilled by embodied neuromorphic intelligence with spiking…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

Neuromorphic engineers aim to develop event-based spiking neural networks (SNNs) in hardware. These SNNs closer resemble dynamics of biological neurons than todays' artificial neural networks and achieve higher efficiency thanks to the…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Spiking Neural Networks (SNNs) are promising brain-inspired models known for low power consumption and superior potential for temporal processing, but identifying suitable learning mechanisms remains a challenge. Despite the presence of…

Robots need to be able to adapt to unexpected changes in the environment such that they can autonomously succeed in their tasks. However, hand-designing feedback models for adaptation is tedious, if at all possible, making data-driven…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Human brain and behavior provide a rich venue that can inspire novel control and learning methods for robotics. In an attempt to exemplify such a development by inspiring how humans acquire knowledge and transfer skills among tasks, we…

A critical goal of adaptive control is enabling robots to rapidly adapt in dynamic environments. Recent studies have developed a meta-learning-based adaptive control scheme, which uses meta-learning to extract nonlinear features…

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from…

Spiking Neural Networks (SNNs) are a class of network models capable of processing spatiotemporal information, with event-driven characteristics and energy efficiency advantages. Recently, directly trained SNNs have shown potential to match…

Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…

As spiking neural networks (SNNs) are deployed increasingly in real-world efficiency critical applications, the security concerns in SNNs attract more attention. Currently, researchers have already demonstrated an SNN can be attacked with…