相关论文: Autonomous Reinforcement Learning Robot Control wi…

Recent progress in artificial intelligence (AI) has been driven by insights from physics and neuroscience, particularly through the development of artificial neural networks (ANNs) capable of complex cognitive tasks such as vision and…

Training reinforcement learning (RL) agents to control fluid dynamics systems is computationally expensive due to the high cost of direct numerical simulations (DNS) of the governing equations. Surrogate models offer a promising alternative…

The ability to handle single molecules as effectively as macroscopic building-blocks would enable the construction of complex supramolecular structures inaccessible to self-assembly. The fundamental challenges obstructing this goal are the…

We propose a new learning algorithm to train spiking neural networks (SNN) using conventional artificial neural networks (ANN) as proxy. We couple two SNN and ANN networks, respectively, made of integrate-and-fire (IF) and ReLU neurons with…

Spiking Neural Networks (SNNs) offer biologically inspired, energy-efficient alternatives to traditional Deep Neural Networks (DNNs) for real-time control systems. However, their training presents several challenges, particularly for…

Neuromorphic computing mimics the neural activity of the brain through emulating spiking neural networks. In numerous machine learning tasks, neuromorphic chips are expected to provide superior solutions in terms of cost and power…

In this work we present an efficient and practically implementable approach for the application of reinforcement learning (RL)-based control in chemical process systems. This is an area that has yet to widely adopt RL-based control largely…

Neuromorphic computing is a new paradigm for design of both the computing hardware and algorithms inspired by biological neural networks. The event-based nature and the inherent parallelism make neuromorphic computing a promising paradigm…

Spiking Neural Networks (SNNs), inspired by biological intelligence, have long been considered inherently energy-efficient, making them attractive for resource-constrained domains such as space applications. However, recent comparative…

Recent work suggests that synaptic plasticity dynamics in biological models of neurons and neuromorphic hardware are compatible with gradient-based learning (Neftci et al., 2019). Gradient-based learning requires iterating several times…

Robotic continuous control tasks impose stringent demands on the energy efficiency and latency of computing architectures due to their high-dimensional state spaces and real-time interaction requirements. Conventional electronic computing…

Biological spiking neural networks (SNNs) can temporally encode information in their outputs, e.g. in the rank order in which neurons fire, whereas artificial neural networks (ANNs) conventionally do not. As a result, models of SNNs for…

Deep Reinforcement Learning (DRL) algorithms have recently made significant strides in improving network performance. Nonetheless, their practical use is still limited in the absence of safe exploration and safe decision-making. In the…

In this paper, we present a Deep Reinforcement Learning (RL)-driven Adaptive Stochastic Nonlinear Model Predictive Control (SNMPC) to optimize uncertainty handling, constraints robustification, feasibility, and closed-loop performance. To…

A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the free energy principle in computational neuroscience, to…

Deep Neural Networks (DNN) achieve human level performance in many image analytics tasks but DNNs are mostly deployed to GPU platforms that consume a considerable amount of power. New hardware platforms using lower precision arithmetic…

Training and deploying reinforcement learning (RL) policies for robots, especially in accomplishing specific tasks, presents substantial challenges. Recent advancements have explored diverse reward function designs, training techniques,…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Present-day Deep Reinforcement Learning (RL) systems show great promise towards building intelligent agents surpassing human-level performance. However, the computational complexity associated with the underlying deep neural networks (DNNs)…