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

There is a growing necessity for edge training to adapt to dynamically changing environment. Neuromorphic computing represents a significant pathway for high-efficiency intelligent computation in energy-constrained edges, but existing…

Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…

Foundation models are pre-trained on large-scale datasets and subsequently fine-tuned on small-scale datasets using parameter-efficient fine-tuning (PEFT) techniques like low-rank adapters (LoRA). In most previous works, LoRA weight…

In this paper, we introduce Target-Aware Weighted Training (TAWT), a weighted training algorithm for cross-task learning based on minimizing a representation-based task distance between the source and target tasks. We show that TAWT is easy…

Adaptive training methods for Physics-informed neural network (PINN) require dedicated constructions of the distribution of weights assigned at each training sample. To efficiently seek such an optimal weight distribution is not a simple…

Neuromorphic computing, inspired by biological neural systems, holds immense promise for ultra-low-power and real-time inference applications. However, limited access to flexible, open-source platforms continues to hinder widespread…

Two main routes of learning methods exist at present including error-driven global learning and neuroscience-oriented local learning. Integrating them into one network may provide complementary learning capabilities for versatile learning…

The increasing need for compact and low-power computing solutions for machine learning applications has triggered significant interest in energy-efficient neuromorphic systems. However, most of these architectures rely on spiking neural…

Deep neural network (DNN)-based policy models like vision-language-action (VLA) models are transformative in automating complex decision-making across applications by interpreting multi-modal data. However, scaling these models greatly…

We propose hardware-oriented models of intrinsic plasticity (IP) and synaptic plasticity (SP) for spiking randomly connected recursive neural network (RNN). Although the potential of RNNs for temporal data processing has been demonstrated,…

Sensory processing at the edge requires ultra-low power stand-alone computing technologies. This is particularly true for modern agriculture and precision irrigation systems which aim to optimize water usage by monitoring key environmental…

This paper addresses the inverse optimal control problem of finding the state weighting function that leads to a quadratic value function when the cost on the input is fixed to be quadratic. The paper focuses on a class of infinite horizon…

This paper introduces SpikeFit, a novel training method for Spiking Neural Networks (SNNs) that enables efficient inference on neuromorphic hardware, considering all its stringent requirements: the number of neurons and synapses that can…

Brain-inspired neuromorphic technologies can offer important advantages over classical digital clock-based technologies in various domains, including systems and control engineering. Indeed, neuromorphic engineering could provide…

In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing to its potent…

The increasing complexity of neural networks and the energy consumption associated with training and inference create a need for alternative neuromorphic approaches, e.g. using optics. Current proposals and implementations rely on physical…

In this work we study biological neural networks from an algorithmic perspective, focusing on understanding tradeoffs between computation time and network complexity. Our goal is to abstract real neural networks in a way that, while not…

This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…

Despite remarkable capabilities, artificial neural networks exhibit limited flexible, generalizable intelligence. This limitation stems from their fundamental divergence from biological cognition that overlooks both neural regions'…

In this paper, the foundations of neuromorphic computing, spiking neural networks (SNNs) and memristors, are analyzed and discussed. Neuromorphic computing is then applied to FPGA design for digital signal processing (DSP). Finite impulse…