5 papers
Memory Determines Learning Direction: A Theory of Gradient-Based Optimization in State Space Models
JingChuan Guan, Tomoyuki Kubota, Yasuo Kuniyoshi +1
State space models (SSMs) have gained attention by showing potential to outperform Transformers. However, previous studies have not sufficiently addressed the mechanisms underlying…
Multifunctional physical reservoir computing in soft tensegrity robots
Ryo Terajima, Katsuma Inoue, Kohei Nakajima +1
Recent studies have demonstrated that the dynamics of physical systems can be utilized for the desired information processing under the framework of physical reservoir computing (P…
Haptic Perception via the Dynamics of Flexible Body Inspired by an Ostrich's Neck
Kazashi Nakano, Katsuma Inoue, Yasuo Kuniyoshi +1
In biological systems, both skin sensitivity and body flexibility play crucial roles in haptic perception. Fully soft robots often suffer from structural fragility and delayed sens…
Attractor-merging Crises and Intermittency in Reservoir Computing
Tempei Kabayama, Motomasa Komuro, Yasuo Kuniyoshi +2
Reservoir computing can embed attractors into random neural networks (RNNs), generating a ``mirror'' of a target attractor because of its inherent symmetrical constraints. In these…
Backpropagation through Soft Body: Investigating Information Processing in Brain-Body Coupling Systems
Hiroki Tomioka, Katsuma Inoue, Yasuo Kuniyoshi +1
Animals achieve sophisticated behavioral control through dynamic coupling of the brain, body, and environment. Accordingly, the co-design approach, in which both the controllers an…