{"id":"https://openalex.org/W7140328375","doi":"https://doi.org/10.48550/arxiv.2603.22512","title":"Hebbian Attractor Networks for Robot Locomotion","display_name":"Hebbian Attractor Networks for Robot Locomotion","publication_year":2026,"publication_date":"2026-03-23","ids":{"openalex":"https://openalex.org/W7140328375","doi":"https://doi.org/10.48550/arxiv.2603.22512"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.22512","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22512","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.22512","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004083291","display_name":"Alexander Dittrich","orcid":"https://orcid.org/0000-0003-2521-987X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Dittrich, Alexander","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005078316","display_name":"Fuda van Diggelen","orcid":"https://orcid.org/0000-0002-7972-1649"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"van Diggelen, Fuda","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5130579781","display_name":"Dario Floreano","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Floreano, Dario","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5004083291"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.3057999908924103,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.3057999908924103,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.2273000031709671,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.04500000178813934,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hebbian-theory","display_name":"Hebbian theory","score":0.9164999723434448},{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.6978999972343445},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5978999733924866},{"id":"https://openalex.org/keywords/synaptic-weight","display_name":"Synaptic weight","score":0.46860000491142273},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3928000032901764},{"id":"https://openalex.org/keywords/plasticity","display_name":"Plasticity","score":0.37770000100135803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3605000078678131},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.35420000553131104}],"concepts":[{"id":"https://openalex.org/C111437709","wikidata":"https://www.wikidata.org/wiki/Q1277874","display_name":"Hebbian theory","level":3,"score":0.9164999723434448},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.6978999972343445},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5978999733924866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5467000007629395},{"id":"https://openalex.org/C66949984","wikidata":"https://www.wikidata.org/wiki/Q7662043","display_name":"Synaptic weight","level":3,"score":0.46860000491142273},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3928000032901764},{"id":"https://openalex.org/C79186407","wikidata":"https://www.wikidata.org/wiki/Q472074","display_name":"Plasticity","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3605000078678131},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.35420000553131104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3301999866962433},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.3287000060081482},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C197341189","wikidata":"https://www.wikidata.org/wiki/Q863533","display_name":"Postsynaptic potential","level":3,"score":0.3158000111579895},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.30889999866485596},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C5687787","wikidata":"https://www.wikidata.org/wiki/Q5889850","display_name":"Homeostatic plasticity","level":5,"score":0.2743000090122223},{"id":"https://openalex.org/C186060115","wikidata":"https://www.wikidata.org/wiki/Q30336093","display_name":"Biological system","level":1,"score":0.2718000113964081},{"id":"https://openalex.org/C159919123","wikidata":"https://www.wikidata.org/wiki/Q7577157","display_name":"Spike-timing-dependent plasticity","level":4,"score":0.2612999975681305},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25870001316070557}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.22512","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22512","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.22512","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22512","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Biological":[0],"neural":[1,22,47,157],"networks":[2,48],"continuously":[3],"adapt":[4],"and":[5,66,71,96,102,115],"modify":[6],"themselves":[7],"in":[8,20,33,49,159,172],"response":[9],"to":[10,74,120,138],"experiences":[11],"throughout":[12],"their":[13],"lifetime":[14],"-":[15],"a":[16,27,43,143,163],"capability":[17],"largely":[18],"absent":[19],"artificial":[21],"networks.":[23,174],"Hebbian":[24,39,93],"plasticity":[25,65,155],"offers":[26],"promising":[28],"path":[29],"toward":[30],"rapid":[31],"adaptation":[32],"changing":[34],"environments.":[35],"Here,":[36],"we":[37,88],"introduce":[38],"Attractor":[40],"Networks":[41],"(HAN),":[42],"class":[44],"of":[45,69,154,166],"plastic":[46],"which":[50],"local":[51],"weight":[52,82,100,122],"update":[53,94],"normalization":[54],"induces":[55],"emergent":[56],"attractor":[57,168],"dynamics.":[58],"Unlike":[59],"prior":[60],"approaches,":[61],"HANs":[62],"employ":[63],"dual-timescale":[64],"temporal":[67],"averaging":[68,98],"pre-":[70,114],"postsynaptic":[72,116],"activations":[73],"induce":[75],"either":[76],"co-dynamic":[77,129],"limit":[78],"cycles":[79],"or":[80],"fixed-point":[81],"attractors.":[83],"Using":[84],"simulated":[85,144],"locomotion":[86,141],"benchmarks,":[87],"gain":[89],"insight":[90],"into":[91],"how":[92,151],"frequency":[95],"activation":[97],"influence":[99],"dynamics":[101,158],"control":[103],"performance.":[104],"Our":[105],"results":[106,149],"show":[107],"that":[108,134,170],"slower":[109],"updates,":[110],"combined":[111],"with":[112,142],"averaged":[113],"activations,":[117],"promote":[118],"convergence":[119],"stable":[121],"configurations,":[123],"while":[124],"faster":[125],"updates":[126],"yield":[127],"oscillatory":[128],"systems.":[130],"We":[131],"further":[132],"demonstrate":[133],"these":[135],"findings":[136],"generalize":[137],"high-dimensional":[139],"quadrupedal":[140],"Unitree":[145],"Go1":[146],"robot.":[147],"These":[148],"highlight":[150],"the":[152,167],"timing":[153],"shapes":[156],"embodied":[160],"systems,":[161],"providing":[162],"principled":[164],"characterization":[165],"regimes":[169],"emerge":[171],"self-modifying":[173]},"counts_by_year":[],"updated_date":"2026-03-26T06:10:45.909354","created_date":"2026-03-26T00:00:00"}