{"id":"https://openalex.org/W3012846053","doi":"https://doi.org/10.1109/aicas48895.2020.9073987","title":"Learning to Walk: Spike Based Reinforcement Learning for Hexapod Robot Central Pattern Generation","display_name":"Learning to Walk: Spike Based Reinforcement Learning for Hexapod Robot Central Pattern Generation","publication_year":2020,"publication_date":"2020-04-24","ids":{"openalex":"https://openalex.org/W3012846053","doi":"https://doi.org/10.1109/aicas48895.2020.9073987","mag":"3012846053"},"language":"en","primary_location":{"id":"doi:10.1109/aicas48895.2020.9073987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aicas48895.2020.9073987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 2nd IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.10026","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040695095","display_name":"Ashwin Sanjay Lele","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashwin Sanjay Lele","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Georgia Institute of Technology,School of Electrical and Computer Engineering,,Atlanta,GA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Institute of Technology,School of Electrical and Computer Engineering,,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018582515","display_name":"Yan Fang","orcid":"https://orcid.org/0000-0002-5416-3302"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Fang","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Georgia Institute of Technology,School of Electrical and Computer Engineering,,Atlanta,GA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Institute of Technology,School of Electrical and Computer Engineering,,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001494168","display_name":"Justin Ting","orcid":"https://orcid.org/0000-0002-5172-2770"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin Ting","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Georgia Institute of Technology,School of Electrical and Computer Engineering,,Atlanta,GA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Institute of Technology,School of Electrical and Computer Engineering,,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091408102","display_name":"Arijit Raychowdhury","orcid":"https://orcid.org/0000-0001-8391-0576"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arijit Raychowdhury","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Georgia Institute of Technology,School of Electrical and Computer Engineering,,Atlanta,GA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Institute of Technology,School of Electrical and Computer Engineering,,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"208","last_page":"212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7855030298233032},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.7633857727050781},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6588178277015686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6345638632774353},{"id":"https://openalex.org/keywords/spiking-neural-network","display_name":"Spiking neural network","score":0.6298539638519287},{"id":"https://openalex.org/keywords/spike","display_name":"Spike (software development)","score":0.5357756614685059},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.5140231847763062},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48559850454330444},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4690929651260376},{"id":"https://openalex.org/keywords/spike-timing-dependent-plasticity","display_name":"Spike-timing-dependent plasticity","score":0.43864572048187256},{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.4359690546989441},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3682248592376709},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.31058186292648315},{"id":"https://openalex.org/keywords/synaptic-plasticity","display_name":"Synaptic plasticity","score":0.1358388066291809},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07753747701644897},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.07242459058761597}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7855030298233032},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.7633857727050781},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6588178277015686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6345638632774353},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.6298539638519287},{"id":"https://openalex.org/C2781390188","wikidata":"https://www.wikidata.org/wiki/Q25203449","display_name":"Spike (software development)","level":2,"score":0.5357756614685059},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.5140231847763062},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48559850454330444},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4690929651260376},{"id":"https://openalex.org/C159919123","wikidata":"https://www.wikidata.org/wiki/Q7577157","display_name":"Spike-timing-dependent plasticity","level":4,"score":0.43864572048187256},{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.4359690546989441},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3682248592376709},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.31058186292648315},{"id":"https://openalex.org/C98229152","wikidata":"https://www.wikidata.org/wiki/Q1551556","display_name":"Synaptic plasticity","level":3,"score":0.1358388066291809},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07753747701644897},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.07242459058761597},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C170493617","wikidata":"https://www.wikidata.org/wiki/Q208467","display_name":"Receptor","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/aicas48895.2020.9073987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aicas48895.2020.9073987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 2nd IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.10026","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.10026","pdf_url":"https://arxiv.org/pdf/2003.10026","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3012846053","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2003.10026.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.10026","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.10026","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.10026","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.10026","pdf_url":"https://arxiv.org/pdf/2003.10026","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306087","display_name":"Semiconductor Research Corporation","ror":"https://ror.org/047z4n946"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3012846053.pdf","grobid_xml":"https://content.openalex.org/works/W3012846053.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W827079712","https://openalex.org/W2027223022","https://openalex.org/W2089745666","https://openalex.org/W2101098997","https://openalex.org/W2112669647","https://openalex.org/W2126404188","https://openalex.org/W2138913040","https://openalex.org/W2147537971","https://openalex.org/W2159240874","https://openalex.org/W2283674326","https://openalex.org/W2492971939","https://openalex.org/W2694031977","https://openalex.org/W2783525259","https://openalex.org/W2791111874","https://openalex.org/W4242770316","https://openalex.org/W6683248885"],"related_works":["https://openalex.org/W3018463921","https://openalex.org/W3094044405","https://openalex.org/W3194466034","https://openalex.org/W44204917","https://openalex.org/W3090244768","https://openalex.org/W3148332652","https://openalex.org/W1502434800","https://openalex.org/W827079712","https://openalex.org/W3177184855","https://openalex.org/W3011344322","https://openalex.org/W3185176958","https://openalex.org/W2966162984","https://openalex.org/W2492971939","https://openalex.org/W3212726427","https://openalex.org/W3125742451","https://openalex.org/W2794685907","https://openalex.org/W1507752134","https://openalex.org/W2968865419","https://openalex.org/W2035031424","https://openalex.org/W3099557567"],"abstract_inverted_index":{"Learning":[0],"to":[1,13,77,87,105],"walk":[2,106],"-":[3],"i.e.,":[4],"learning":[5,27,90,108,142],"locomotion":[6,134],"under":[7],"performance":[8],"and":[9,35,42,54,62,83],"energy":[10,61],"constraints":[11],"continues":[12],"be":[14],"a":[15,102,151,160,169],"challenge":[16],"in":[17,66,74,117,143],"legged":[18,103],"robotics.":[19,145],"Methods":[20],"such":[21],"as":[22],"stochastic":[23,154],"gradient,":[24],"deep":[25],"reinforcement":[26,89,152],"(RL)":[28],"have":[29],"been":[30,85,123],"explored":[31],"for":[32,45,158],"bipeds,":[33],"quadrupeds":[34],"hexapods.":[36],"These":[37,48],"techniques":[38],"are":[39],"computationally":[40],"intensive":[41],"often":[43],"prohibitive":[44],"edge":[46],"applications.":[47],"methods":[49],"rely":[50],"on":[51,168],"complex":[52],"sensors":[53],"pre-processing":[55],"of":[56,81,112,130,135],"data,":[57],"which":[58],"further":[59],"increases":[60],"latency.":[63],"Recent":[64],"advances":[65],"spiking":[67,161],"neural":[68],"networks":[69],"(SNNs)":[70],"promise":[71],"significant":[72],"reduction":[73],"computing":[75],"owing":[76],"the":[78,109,128],"sparse":[79],"firing":[80],"neuros":[82],"has":[84,121],"shown":[86],"integrate":[88],"mechanisms":[91],"with":[92,132,174],"biologically":[93],"observed":[94],"spike":[95],"time":[96],"dependent":[97],"plasticity":[98],"(STDP).":[99],"However,":[100],"training":[101,159],"robot":[104],"by":[107],"synchronization":[110],"patterns":[111],"central":[113],"pattern":[114],"generators":[115],"(CPG)":[116],"an":[118],"SNN":[119],"framework":[120],"not":[122],"shown.":[124],"This":[125],"can":[126],"marry":[127],"efficiency":[129],"SNNs":[131],"synchronized":[133],"CPG":[136],"based":[137,153],"systems":[138],"providing":[139],"breakthrough":[140],"end-to-end":[141],"mobile":[144],"In":[146],"this":[147],"paper,":[148],"we":[149],"propose":[150],"weight":[155],"update":[156],"technique":[157],"CPG.":[162],"The":[163],"whole":[164],"system":[165],"is":[166],"implemented":[167],"lightweight":[170],"raspberry":[171],"pi":[172],"platform":[173],"integrated":[175],"sensors,":[176],"thus":[177],"opening":[178],"up":[179],"exciting":[180],"new":[181],"possibilities.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}