相关论文: SpikePingpong: Spike Vision-based Fast-Slow Pingpo…

The combination of spiking neural networks and event-based vision sensors holds the potential of highly efficient and high-bandwidth optical flow estimation. This paper presents the first hierarchical spiking architecture in which motion…

There is extensive evidence that biological neural networks encode information in the precise timing of the spikes generated and transmitted by neurons, which offers several advantages over rate-based codes. Here we adopt a vector space…

Robot learning has proven to be a general and effective technique for programming manipulators. Imitation learning is able to teach robots solely from human demonstrations but is bottlenecked by the capabilities of the demonstrations.…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

We consider two biologically plausible structures, the Spiking Neural Network (SNN) and the self-attention mechanism. The former offers an energy-efficient and event-driven paradigm for deep learning, while the latter has the ability to…

In this work, we present a fast target detection framework for real-world robotics applications. Considering that an intelligent agent attends to a task-specific object target during execution, our goal is to detect the object efficiently.…

Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…

Existing robotic systems have a clear tension between generality and precision. Deployed solutions for robotic manipulation tend to fall into the paradigm of one robot solving a single task, lacking precise generalization, i.e., the ability…

Humanoid robot manipulation is a crucial research area for executing diverse human-level tasks, involving high-level semantic reasoning and low-level action generation. However, precise scene understanding and sample-efficient learning from…

Real-time video analysis remains a challenging problem in computer vision, requiring efficient processing of both spatial and temporal information while maintaining computational efficiency. Existing approaches often struggle to balance…

Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…

Application of deep convolutional spiking neural networks (SNNs) to artificial intelligence (AI) tasks has recently gained a lot of interest since SNNs are hardware-friendly and energy-efficient. Unlike the non-spiking counterparts, most of…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Humans have an exquisite sense of touch which robotic and prosthetic systems aim to recreate. We developed algorithms to create neuron-like (neuromorphic) spiking representations of texture that are invariant to the scanning speed and…

Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…

Brain-inspired Spiking Neural Networks (SNNs) have bio-plausibility and low-power advantages over Artificial Neural Networks (ANNs). Applications of SNNs are currently limited to simple classification tasks because of their poor…

The spike camera, with its high temporal resolution, low latency, and high dynamic range, addresses high-speed imaging challenges like motion blur. It captures photons at each pixel independently, creating binary spike streams rich in…

We derive a synaptic weight update rule for learning temporally precise spike train to spike train transformations in multilayer feedforward networks of spiking neurons. The framework, aimed at seamlessly generalizing error backpropagation…

Neuromorphic Computing promises orders of magnitude improvement in energy efficiency compared to traditional von Neumann computing paradigm. The goal is to develop an adaptive, fault-tolerant, low-footprint, fast, low-energy intelligent…

Building spiking neural networks (SNNs) based on biological synaptic plasticities holds a promising potential for accomplishing fast and energy-efficient computing, which is beneficial to mobile robotic applications. However, the…