Frontiers in Neurorobotics最新文献

Data augmentation is an effective technique for automatically expanding training data in deep learning. Brain-inspired methods are approaches that draw inspiration from the functionality and structure of the human brain and apply these mechanisms and principles to artificial intelligence and computer science. When there is a large style difference between training data and testing data, common data augmentation methods cannot effectively enhance the generalization performance of the deep model. To solve this problem, we improve modeling Domain Shifts with Uncertainty (DSU) and propose a new brain-inspired computer vision image data augmentation method which consists of two key components, namely, using Robust statistics and controlling the Coefficient of variance for DSU (RCDSU) and Feature Data Augmentation (FeatureDA). RCDSU calculates feature statistics (mean and standard deviation) with robust statistics to weaken the influence of outliers, making the statistics close to the real values and improving the robustness of deep learning models. By controlling the coefficient of variance, RCDSU makes the feature statistics shift with semantic preservation and increases shift range. FeatureDA controls the coefficient of variance similarly to generate the augmented features with semantics unchanged and increase the coverage of augmented features. RCDSU and FeatureDA are proposed to perform style transfer and content transfer in the feature space, and improve the generalization ability of the model at the style and content level respectively. On Photo, Art Painting, Cartoon, and Sketch (PACS) multi-style classification task, RCDSU plus FeatureDA achieves competitive accuracy. After adding Gaussian noise to PACS dataset, RCDSU plus FeatureDA shows strong robustness against outliers. FeatureDA achieves excellent results on CIFAR-100 image classification task. RCDSU plus FeatureDA can be applied as a novel brain-inspired semantic data augmentation method with implicit robot automation which is suitable for datasets with large style differences between training and testing data.

This paper addresses the limitations of current neural ordinary differential equations (NODEs) in modeling and predicting complex dynamics by introducing a novel framework called higher-order-derivative-supervised (HiDeS) NODE. This method extends traditional NODE frameworks by incorporating higher-order derivatives and their interactions into the modeling process, thereby enabling the capture of intricate system behaviors. In addition, the HiDeS NODE employs both the state vector and its higher-order derivatives as supervised signals, which is different from conventional NODEs that utilize only the state vector as a supervised signal. This approach is designed to enhance the predicting capability of NODEs. Through extensive experiments in the complex fields of multi-robot systems and opinion dynamics, the HiDeS NODE demonstrates improved modeling and predicting capabilities over existing models. This research not only proposes an expressive and predictive framework for dynamic systems but also marks the first application of NODEs to the fields of multi-robot systems and opinion dynamics, suggesting broad potential for future interdisciplinary work. The code is available at https://github.com/MengLi-Thea/HiDeS-A-Higher-Order-Derivative-Supervised-Neural-Ordinary-Differential-Equation.

The research on acceleration-level visual servoing of manipulators is crucial yet insufficient, which restricts the potential application range of visual servoing. To address this issue, this paper proposes a quadratic programming-based acceleration-level image-based visual servoing (AIVS) scheme, which considers joint constraints. Besides, aiming to address the unknown problems in visual servoing systems, a data-driven learning algorithm is proposed to facilitate estimating structural information. Building upon this foundation, a data-driven acceleration-level image-based visual servoing (DAIVS) scheme is proposed, integrating learning and control capabilities. Subsequently, a recurrent neural network (RNN) is developed to tackle the DAIVS scheme, followed by theoretical analyses substantiating its stability. Afterwards, simulations and experiments on a Franka Emika Panda manipulator with eye-in-hand structure and comparisons among the existing methods are provided. The obtained results demonstrate the feasibility and practicality of the proposed schemes and highlight the superior learning and control ability of the proposed RNN. This method is particularly well-suited for visual servoing applications of manipulators with unknown structure.