Author

Daisuke Miki

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#reinforcement learning Open access Oct 2026

Neuromorphic control of a simulated shape-memory-alloy-driven multi-legged robot using a spiking neural network

Abstract We present spiking-neural-network (SNN) reinforcement learning for autonomous locomotion control of a starfish-inspired multi-legged soft robot driven by shape memory alloy (SMA) actuators. Such robots are usually driven open loop by pre-designed periodic signals, because coordinated motion is hard to hand-des...

Daisuke Miki, Hiroto Takigasaki · Scientific Reports · 0 citations

#reinforcement learning Open access Oct 2026

Improving performance in SNN-based deep reinforcement learning via transition-aware embeddings

Deep Reinforcement Learning (DRL), which integrates reinforcement learning with deep neural networks (DNNs), has been extensively researched across diverse domains. Robotics, in particular, has seen significant advancements, as DRL enables agents to extract meaningful features from high-dimensional observations and mak...

Hiroto Takigasaki, Takahiro Iwata, Seankein Yoshioka et al. · Frontiers in Neurorobotics · 0 citations