6 papers
Smoothness as a Constraint for Stable Humanoid Locomotion
Utsav Panchal, Denis Kleyko, Unal Artan +1
Embodied AI systems, particularly humanoid robots deployed in real world scenarios require whole-body control policies that are both task-responsive and physically smooth. However,…
Real-Valued Hyperdimensional Sequence Representations with Hadamard Product Binding and Shift Equivariance
Kenny Schlegel, Dmitri A. Rachkovskij, Denis Kleyko +3
Encoding temporal order is a fundamental requirement for sequence representations in Hyperdimensional Computing. Fractional Power Encoding provides similarity-preserving position v…
Contextual Bandits for Resource-Constrained Devices using Probabilistic Learning
Marco Angioli, Kevin Johansson, Antonello Rosato +2
Contextual bandits (CB) are online sequential decision-making problems under partial feedback that underpin many adaptive services. There is a growing demand to deploy CB agents di…
Towards a Comprehensive Theory of Reservoir Computing
Denis Kleyko, Christopher J. Kymn, E. Paxon Frady +2
In reservoir computing, an input sequence is processed by a recurrent neural network, the reservoir, which transforms it into a spatial pattern that a shallow readout network can t…
Efficient Hyperdimensional Computing with Modular Composite Representations
Marco Angioli, Christopher J. Kymn, Antonello Rosato +3
The modular composite representation (MCR) is a computing model that represents information with high-dimensional integer vectors using modular arithmetic. Originally proposed as a…
Relative Navigation and Dynamic Target Tracking for Autonomous Underwater Proximity Operations
David Baxter, Aldo Terán Espinoza, Antonio Terán Espinoza +5
Estimating a target's 6-DoF motion in underwater proximity operations is difficult because the chaser lacks target-side proprioception and the available relative observations are s…