Michael Fernando Van Breukelen Castillo

Spiking Neural Networks for High-Speed Continuous Quadcopter Control Using Proximal Policy Optimization

We present the first fully spiking actor-critic neural network policy, trained via Proximal Policy Optimization (PPO), for continuous control of a high-speed quadcopter in a gate-based navigation task. The spiking neural network (SNN) controller uses Leaky Integrate-and-Fire neurons with surrogate gradient training and...