相关论文: Autonomous Reinforcement Learning Robot Control wi…

We present computational and experimental results on how artificial intelligence (AI) learns to control an Acrobot using reinforcement learning (RL). Thereby the experimental setup is designed as an embedded system, which is of interest for…

The biologically inspired spiking neurons used in neuromorphic computing are nonlinear filters with dynamic state variables -- very different from the stateless neuron models used in deep learning. The next version of Intel's neuromorphic…

It has long been realized that neuromorphic hardware offers benefits for the domain of robotics such as low energy, low latency, as well as unique methods of learning. In aiming for more complex tasks, especially those incorporating…

Neuromorphic hardware is based on emulating the natural biological structure of the brain. Since its computational model is similar to standard neural models, it could serve as a computational acceleration for research projects in the field…

Smart and agile drones are fast becoming ubiquitous at the edge of the cloud. The usage of these drones are constrained by their limited power and compute capability. In this paper, we present a Transfer Learning (TL) based approach to…

The capabilities of natural neural systems have inspired new generations of machine learning algorithms as well as neuromorphic very large-scale integrated (VLSI) circuits capable of fast, low-power information processing. However, it has…

Neuromorphic hardware platforms, such as Intel's Loihi chip, support the implementation of Spiking Neural Networks (SNNs) as an energy-efficient alternative to Artificial Neural Networks (ANNs). SNNs are networks of neurons with internal…

Air hockey demands split-second decisions at high puck velocities, a challenge we address with a compact network of spiking neurons running on a mixed-signal analog/digital neuromorphic processor. By co-designing hardware and learning…

Neuromorphic engineers aim to develop event-based spiking neural networks (SNNs) in hardware. These SNNs closer resemble dynamics of biological neurons than todays' artificial neural networks and achieve higher efficiency thanks to the…

Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…

Autonomous Driving (AD) related features provide new forms of mobility that are also beneficial for other kind of intelligent and autonomous systems like robots, smart transportation, and smart industries. For these applications, the…

Despite recent progress in training spiking neural networks (SNNs) for classification, their application to continuous motor control remains limited. Here, we demonstrate that fully spiking architectures can be trained end-to-end to control…

In this paper, we explore the ability of a robot arm to learn the underlying operation space defined by the positions (x, y, z) that the arm's end-effector can reach, including disturbances, by deploying and thoroughly evaluating a Spiking…

Compelling evidence has been given for the high energy efficiency and update rates of neuromorphic processors, with performance beyond what standard Von Neumann architectures can achieve. Such promising features could be advantageous in…

Controlling a non-statically stable biped is a difficult problem largely due to the complex hybrid dynamics involved. Recent work has demonstrated the effectiveness of reinforcement learning (RL) for simulation-based training of neural…

Large language models (LLMs) deliver impressive performance but require large amounts of energy. In this work, we present a MatMul-free LLM architecture adapted for Intel's neuromorphic processor, Loihi 2. Our approach leverages Loihi 2's…

Imminent radio telescope observatories provide massive data rates making deep learning based processing appealing while simultaneously demanding real-time performance at low-energy; prohibiting the use of many artificial neural network…

In recent years, unmanned aerial vehicle (UAV) related technology has expanded knowledge in the area, bringing to light new problems and challenges that require solutions. Furthermore, because the technology allows processes usually carried…

Reinforcement learning (RL) is a goal-oriented learning solution that has proven to be successful for Neural Architecture Search (NAS) on the CIFAR and ImageNet datasets. However, a limitation of this approach is its high computational…

Integrating autonomous mobile robots into human environments requires human-like decision-making and energy-efficient, event-based computation. Despite progress, neuromorphic methods are rarely applied to Deep Reinforcement Learning (DRL)…