相关论文: Neuromorphic Control using Input-Weighted Threshol…

Neuromorphic computing aims to reproduce the energy efficiency and adaptability of biological intelligence in hardware. Superconducting devices are an attractive platform due to their ultra-low dissipation and fast switching dynamics. Here…

Neuromorphic control is receiving growing attention due to the multifaceted advantages it brings over more classical control approaches, including: sparse and on-demand sensing, information transmission, and actuation; energy-efficient…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Low-rank adaptation~(LoRA) has recently gained much interest in fine-tuning foundation models. It effectively reduces the number of trainable parameters by incorporating low-rank matrices $A$ and $B$ to represent the weight change, i.e.,…

With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…

This paper introduces a new learning paradigm termed Neural Metamorphosis (NeuMeta), which aims to build self-morphable neural networks. Contrary to crafting separate models for different architectures or sizes, NeuMeta directly learns the…

Existing parameter-efficient fine-tuning (PEFT) methods primarily fall into two categories: addition-based and selective in-situ adaptation. The former, such as LoRA, introduce additional modules to adapt the model to downstream tasks,…

We develop a learning-based algorithm for the control of autonomous systems governed by unknown, nonlinear dynamics to satisfy user-specified spatio-temporal tasks expressed as signal temporal logic specifications. Most existing algorithms…

Transformers have emerged as the state of the art neural network architecture for natural language processing and computer vision. In the foundation model paradigm, large transformer models (BERT, GPT3/4, Bloom, ViT) are pre-trained on…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

Traditional control methods are inadequate in many deployment settings involving control of Cyber-Physical Systems (CPS). In such settings, CPS controllers must operate and respond to unpredictable interactions, conditions, or failure…

Compelling evidence has been given for the high energy efficiency and update rates of neuromorphic processors, with performance beyond what standard Von Neumann architectures can achieve. Such promising features could be advantageous in…

Imagine a robot controller with the ability to adapt like human synapses, dynamically rewiring itself to overcome unforeseen challenges in real time. This paper proposes a novel zero-shot adaptation mechanism for evolutionary robotics,…

Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and obstacle avoidance. This paper introduces an adaptive control…

Humans and animals are capable of quickly learning new behaviours to solve new tasks. Yet, we often forget that they also rely on a highly specialized morphology that co-adapted with motor control throughout thousands of years. Although…

Structural pruning of neural networks conventionally relies on identifying and discarding less important neurons, a practice often resulting in significant accuracy loss that necessitates subsequent fine-tuning efforts. This paper…

Biological nervous systems typically perform the control of numerous degrees of freedom for example in animal limbs. Neuromorphic engineers study these systems by emulating them in hardware for a deeper understanding and its possible…

The inherent approximation ability of neural networks plays an essential role in adaptive neural control, where the prerequisite for existence of the compact set is crucial in the control designs. Instead of using practical system state, in…

Due to the unaffordable size and intensive computation costs of low-level vision models, All-in-One models that are designed to address a handful of low-level vision tasks simultaneously have been popular. However, existing All-in-One…

Models with fewer parameters are necessary for the neural control of memory-limited, performant robots. Finding these smaller neural network architectures can be time-consuming. We propose HyperPPO, an on-policy reinforcement learning…