相关论文: CycleIK: Neuro-inspired Inverse Kinematics

The human brain has immense learning capabilities at extreme energy efficiencies and scale that no artificial system has been able to match. For decades, reverse engineering the brain has been one of the top priorities of science and…

Purpose: Correcting or reducing the effects of voxel intensity non-uniformity (INU) within a given tissue type is a crucial issue for quantitative MRI image analysis in daily clinical practice. In this study, we present a deep…

Inverse Kinematics (IK) is to find the robot's configurations that satisfy the target pose of the end effector. In motion planning, diverse configurations were required in case a feasible trajectory was not found. Meanwhile, collision…

Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex…

Recently, the cycle-consistent generative adversarial networks (CycleGAN) has been widely used for synthesis of multi-domain medical images. The domain-specific nonlinear deformations captured by CycleGAN make the synthesized images…

Inverse Kinematics (IK) systems are often rigid with respect to their input character, thus requiring user intervention to be adapted to new skeletons. In this paper we aim at creating a flexible, learned IK solver applicable to a wide…

Virtual reality (VR) teleoperation has emerged as a promising approach for controlling humanoid robots in complex manipulation tasks. However, traditional teleoperation systems rely on inverse kinematics (IK) solvers and hand-tuned PD…

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…

This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external perturbations. The framework embeds a kernel which is a fully…

We present BioNIC, a multi-layer feedforward neural network for emotion classification, inspired by detailed synaptic connectivity graphs from the MICrONs dataset. At a structural level, we incorporate architectural constraints derived from…

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…

In this paper, a new semi-supervised deep multiple-input multiple-output (MIMO) detection approach using a cycle-consistent generative adversarial network (CycleGAN) is proposed for communication systems without any prior knowledge of…

Reinforcement learning for multi-goal robot manipulation tasks poses significant challenges due to the diversity and complexity of the goal space. Techniques such as Hindsight Experience Replay (HER) have been introduced to improve learning…

For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configurations to position the robot body in space. For underactuated…

Cycle-consistent generative adversarial networks (CycleGAN) were successfully applied to speech enhancement (SE) tasks with unpaired noisy-clean training data. The CycleGAN SE system adopted two generators and two discriminators trained…

While many neural networks focus on layers to process information, the GAIN model uses a grid-based structure to improve biological plausibility and the dynamics of the model. The grid structure helps neurons to interact with their closest…

Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations…

Recent techniques built on Generative Adversarial Networks (GANs), such as Cycle-Consistent GANs, are able to learn mappings among different domains built from unpaired datasets, through min-max optimization games between generators and…

This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling…

This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…