相关论文: CycleIK: Neuro-inspired Inverse Kinematics

Neuromorphic engineering is a rapidly developing field that aims to take inspiration from the biological organization of neural systems to develop novel technology for computing, sensing, and actuating. The unique properties of such systems…

Soft robotics is a thriving branch of robotics which takes inspiration from nature and uses affordable flexible materials to design adaptable non-rigid robots. However, their flexible behavior makes these robots hard to model, which is…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

We propose the BinaryGAN, a novel generative adversarial network (GAN) that uses binary neurons at the output layer of the generator. We employ the sigmoid-adjusted straight-through estimators to estimate the gradients for the binary…

Generative adversarial networks (GAN) present state-of-the-art results in the generation of samples following the distribution of the input dataset. However, GANs are difficult to train, and several aspects of the model should be previously…

Spiking neural networks have been referred to as the third generation of artificial neural networks where the information is coded as time of the spikes. There are a number of different spiking neuron models available and they are…

Assistive Robotics is a class of robotics concerned with aiding humans in daily care tasks that they may be inhibited from doing due to disabilities or age. While research has demonstrated that classical control methods can be used to…

The CycleGAN framework allows for unsupervised image-to-image translation of unpaired data. In a scenario of surgical training on a physical surgical simulator, this method can be used to transform endoscopic images of phantoms into images…

Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinear dynamics, suffering from sensitivity to model mismatches…

We report a scalable hybrid quantum-classical machine learning framework to build Bayesian networks (BN) that captures the conditional dependence and causal relationships of random variables. The generation of a BN consists of finding a…

The brain's Path Integration (PI) mechanism offers substantial guidance and inspiration for Brain-Inspired Navigation (BIN). However, the PI capability constructed by the Continuous Attractor Neural Networks (CANNs) in most existing BIN…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Neural networks that are equivariant to rotations, translations, reflections, and permutations on n-dimensional geometric space have shown promise in physical modeling for tasks such as accurately but inexpensively modeling complex…

In this paper, we introduce a novel method for merging the weights of multiple pre-trained neural networks using a genetic algorithm called MeGA. Traditional techniques, such as weight averaging and ensemble methods, often fail to fully…

Output reference tracking can be improved by iteratively learning from past data to inform the design of feedforward control inputs for subsequent tracking attempts. This process is called iterative learning control (ILC). This article…

Achieving human-like motion in robots has been a fundamental goal in many areas of robotics research. Inverse kinematic (IK) solvers have been explored as a solution to provide kinematic structures with anthropomorphic movements. In…

Generative models enable the translation from a source image domain where readily trained models are available to a target domain unseen during training. While Cycle Generative Adversarial Networks (GANs) are well established, the…

Spiking neural networks (SNNs) have emerged as a promising alternative to artificial neural networks (ANNs), offering improved energy efficiency by leveraging sparse and event-driven computation. However, existing hardware implementations…

Existing models for unsupervised image translation with Generative Adversarial Networks (GANs) can learn the mapping from the source domain to the target domain using a cycle-consistency loss. However, these methods always adopt a symmetric…

The cost involved in training deep neural networks (DNNs) on von-Neumann architectures has motivated the development of novel solutions for efficient DNN training accelerators. We propose a hybrid in-memory computing (HIC) architecture for…