TY - GEN
T1 - End to end learning of a multi-layered snn based on r-stdp for a target tracking snake-like robot
AU - Bing, Zhenshan
AU - Jiang, Zhuangyi
AU - Cheng, Long
AU - Cai, Caixia
AU - Huang, Kai
AU - Knoll, Alois
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - This paper introduces an end-to-end learning approach based on Reward-modulated Spike-Timing-Dependent Plasticity (R-STDP) for a multi-layered spiking neural network (SNN). As a case study, a snake-like robot is used as an agent to perform target tracking tasks on the basis of our proposed approach. Since the key of R-STDP is to use rewards to modulate synapse strengthens, we first propose a general way to propagate the reward back through a multi-layered SNN. Upon the proposed approach, we build up an SNN controller that drives a snake-like robot for performing target tracking tasks. We demonstrate the practicability and advantage of our approach in terms of lateral tracking accuracy by comparing it to other state-of-the-art learning algorithms for SNNs based on R-STDP.
AB - This paper introduces an end-to-end learning approach based on Reward-modulated Spike-Timing-Dependent Plasticity (R-STDP) for a multi-layered spiking neural network (SNN). As a case study, a snake-like robot is used as an agent to perform target tracking tasks on the basis of our proposed approach. Since the key of R-STDP is to use rewards to modulate synapse strengthens, we first propose a general way to propagate the reward back through a multi-layered SNN. Upon the proposed approach, we build up an SNN controller that drives a snake-like robot for performing target tracking tasks. We demonstrate the practicability and advantage of our approach in terms of lateral tracking accuracy by comparing it to other state-of-the-art learning algorithms for SNNs based on R-STDP.
UR - http://www.scopus.com/inward/record.url?scp=85071437130&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8793774
DO - 10.1109/ICRA.2019.8793774
M3 - Conference contribution
AN - SCOPUS:85071437130
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 9645
EP - 9651
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -