相关论文: A Neuromorphic Architecture for Scalable Event-Bas…

This work aims to develop a resource-efficient solution for obstacle-avoiding tracking control of a planar snake robot in a densely cluttered environment with obstacles. Particularly, Neuro-Evolution of Augmenting Topologies (NEAT) has been…

This paper presents a neuromorphic system for cognitive load classification in a real-world setting, an Air Traffic Control (ATC) task, using a hardware implementation of Spiking Neural Networks (SNNs). Electroencephalogram (EEG) and…

Ensuring robust decision-making in multi-agent systems is challenging when agents have distinct, possibly conflicting objectives and lack full knowledge of each other's strategies. This is apparent in safety-critical applications such as…

We present a computational framework for synthesis of distributed control strategies for a heterogeneous team of robots in a partially observable environment. The goal is to cooperatively satisfy specifications given as Truncated Linear…

Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…

Biological systems are very robust to morphological damage, but artificial systems (robots) are currently not. In this paper we present a system based on neural cellular automata, in which locomoting robots are evolved and then given the…

Simulating the dynamics of open quantum systems with spatial structure and external control is an important challenge in quantum information science. Classical numerical solvers for such systems require integrating coupled master and field…

Recurrent Neural Networks (RNNs) have shown great success in modeling time-dependent patterns, but there is limited research on their learned representations of latent temporal features and the emergence of these representations during…

Spiking neural networks excel at event-driven sensing. Yet, maintaining task-relevant context over long timescales both algorithmically and in hardware, while respecting both tight energy and memory budgets, remains a core challenge in the…

This paper presents an approach to the design of autonomous, real-time systems operating in uncertain environments. We address issues of problem solving and reflective control of reasoning under uncertainty in terms of two fundamental…

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…

This paper introduces a novel "all-spike" low-power solution for remote wireless inference that is based on neuromorphic sensing, Impulse Radio (IR), and Spiking Neural Networks (SNNs). In the proposed system, event-driven neuromorphic…

The weight matrix (WM) of a neural network (NN) is its program. The programs of many traditional NNs are learned through gradient descent in some error function, then remain fixed. The WM of a self-referential NN, however, can keep rapidly…

Inspired by the advances in biological science, the study of sparse binary projection models has attracted considerable recent research attention. The models project dense input samples into a higher-dimensional space and output sparse…

Extremely increased unstructured data brought by the large-scale intelligent sensing devices application have big challenges not only in data storing and processing but also power consumption surging. Therefore, to improve energy efficiency…

While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…

Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…

Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…

In this brief and speculative commentary, we explore ideas inspired by neural networks in machine learning, proposing that a simple neural XOR motif, involving both excitatory and inhibitory connections, may provide the basis for a relevant…

In this paper we analyze a neuromorphic controller, inspired by the leaky integrate-and-fire neuronal model, in closed-loop with a single-input single-output linear time-invariant system. The controller consists of two neuron-like variables…