相关论文: SpikingSoft: A Spiking Neuron Controller for Bio-i…

Learning how to walk is a sophisticated neurological task for most animals. In order to walk, the brain must synthesize multiple cortices, neural circuits, and diverse sensory inputs. Some animals, like humans, imitate surrounding…

This study explores the design and control of the behaviour of agents and robots using simple circuits of spiking neurons and Spike Timing Dependent Plasticity (STDP) as a mechanism of associative and unsupervised learning. Based on a…

We propose and analyze the suitability of a spiking controller to engineer the locomotion of a soft robotic crawler. Inspired by the FitzHugh-Nagumo model of neural excitability, we design a bistable controller with an electrical flipflop…

Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots…

Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…

Spikes are the currency in central nervous systems for information transmission and processing. They are also believed to play an essential role in low-power consumption of the biological systems, whose efficiency attracts increasing…

Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by…

Spiking Neural Networks (SNNs) are highly energy-efficient due to event-driven, sparse computation, but their training is challenged by spike non-differentiability and trade-offs among performance, efficiency, and biological plausibility.…

Neuro-inspired models and systems have great potential for applications in unconventional computing. Often, the mechanisms of biological neurons are modeled or mimicked in simulated or physical systems in an attempt to harness some of the…

Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion…

Unlike traditional artificial neural networks (ANNs), biological neuronal networks solve complex cognitive tasks with sparse neuronal activity, recurrent connections, and local learning rules. These mechanisms serve as design principles in…

At present, implementation of learning mechanisms in spiking neural networks (SNN) cannot be considered as a solved scientific problem despite plenty of SNN learning algorithms proposed. It is also true for SNN implementation of…

Spiking neural networks (SNNs) promise low-power event-driven computation for temporally rich tasks, but commonly used neuron models often trade off gradient-based trainability, dynamical richness, and high activity sparsity. These…

By exploiting discrete signal processing and simulating brain neuron communication, Spiking Neural Networks (SNNs) offer a low-energy alternative to Artificial Neural Networks (ANNs). However, existing SNN models, still face high…

Spiking neural networks (SNNs) are posited as a computationally efficient and biologically plausible alternative to conventional neural architectures, with their core computational framework primarily using the leaky integrate-and-fire…

Learning to walk -- i.e., learning locomotion under performance and energy constraints continues to be a challenge in legged robotics. Methods such as stochastic gradient, deep reinforcement learning (RL) have been explored for bipeds,…

Spiking neural networks (SNNs) with adaptive synapses reflect core properties of biological neural networks. Speech recognition, as an application involving audio coding and dynamic learning, provides a good test problem to study SNN…

In this paper, we propose a novel technique, Back-stepping Experience Replay (BER), that is compatible with arbitrary off-policy reinforcement learning (RL) algorithms. BER aims to enhance learning efficiency in systems with approximate…

Speech Emotion Recognition (SER) is widely deployed in Human-Computer Interaction, yet the high computational cost of conventional models hinders their implementation on resource-constrained edge devices. Spiking Neural Networks (SNNs)…

Neuromorphic computing is an emerging technology enabling low-latency and energy-efficient signal processing. A key algorithmic tool in neuromorphic computing is spiking neural networks (SNNs). SNNs are biologically inspired neural networks…