Frontiers in Neurorobotics最新文献

{"title":"High-efficiency sparse convolution operator for event-based cameras.","authors":"Sen Zhang, Fusheng Zha, Xiangji Wang, Mantian Li, Wei Guo, Pengfei Wang, Xiaolin Li, Lining Sun","doi":"10.3389/fnbot.2025.1537673","DOIUrl":"10.3389/fnbot.2025.1537673","url":null,"abstract":"<p><p>Event-based cameras are bio-inspired vision sensors that mimic the sparse and asynchronous activation of the animal retina, offering advantages such as low latency and low computational load in various robotic applications. However, despite their inherent sparsity, most existing visual processing algorithms are optimized for conventional standard cameras and dense images captured from them, resulting in computational redundancy and high latency when applied to event-based cameras. To address this gap, we propose a sparse convolution operator tailored for event-based cameras. By selectively skipping invalid sub-convolutions and efficiently reorganizing valid computations, our operator reduces computational workload by nearly 90% and achieves almost 2× acceleration in processing speed, while maintaining the same accuracy as dense convolution operators. This innovation unlocks the potential of event-based cameras in applications such as autonomous navigation, real-time object tracking, and industrial inspection, enabling low-latency and high-efficiency perception in resource-constrained robotic systems.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"19 ","pages":"1537673"},"PeriodicalIF":2.6,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11936924/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143718530","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"PoseRL-Net: human pose analysis for motion training guided by robot vision.","authors":"Bin Liu, Hui Wang","doi":"10.3389/fnbot.2025.1531894","DOIUrl":"10.3389/fnbot.2025.1531894","url":null,"abstract":"<p><strong>Objective: </strong>To address the limitations of traditional methods in human pose recognition, such as occlusions, lighting variations, and motion continuity, particularly in complex dynamic environments for seamless human-robot interaction.</p><p><strong>Method: </strong>We propose PoseRL-Net, a deep learning-based pose recognition model that enhances accuracy and robustness in human pose estimation. PoseRL-Net integrates multiple components, including a Spatial-Temporal Graph Convolutional Network (STGCN), attention mechanism, Gated Recurrent Unit (GRU) module, pose refinement, and symmetry constraints. The STGCN extracts spatial and temporal features, the attention mechanism focuses on key pose features, the GRU ensures temporal consistency, and the refinement and symmetry constraints improve structural plausibility and stability.</p><p><strong>Results: </strong>Extensive experiments conducted on the Human3.6M and MPI-INF-3DHP datasets demonstrate that PoseRL-Net outperforms existing state-of-the-art models on key metrics such as MPIPE and P-MPIPE, showcasing superior performance across various pose recognition tasks.</p><p><strong>Conclusion: </strong>PoseRL-Net not only improves pose estimation accuracy but also provides crucial support for intelligent decision-making and motion planning in robots operating in dynamic and complex scenarios, offering significant practical value for collaborative robotics.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"19 ","pages":"1531894"},"PeriodicalIF":2.6,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11920136/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143663204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Walking control of humanoid robots based on improved footstep planner and whole-body coordination controller.","authors":"Xiangji Wang, Wei Guo, Siyu Yin, Sen Zhang, Fusheng Zha, Mantian Li, Pengfei Wang, Xiaolin Li, Lining Sun","doi":"10.3389/fnbot.2025.1538979","DOIUrl":"10.3389/fnbot.2025.1538979","url":null,"abstract":"<p><p>High-speed walking is fundamental for humanoid robots to quickly reach the work site in emergency scenarios. According to biological studies, the coordinated motion of the arms and waist can significantly enhance walking speed and stability in humans. However, existing humanoid robot walking control frameworks predominantly focus on leg control, often overlooking the utilization of upper body joints. In this paper, a novel walking control framework combining the improved footstep planner and the whole-body coordination controller is proposed, aiming to improve the humanoid robot's tracking accuracy of desired speeds and its dynamic walking capability. First, we analyze the issues in traditional footstep planners based on Linear Inverted Pendulum and Model Predictive Control (LIP-MPC). By reconstructing the footstep optimization problem during walking using the Center-of-Mass (CoM) position, we propose an improved footstep planner to enhance the control accuracy of the desired walking speed in humanoid robots. Next, based on biological research, we define a coordinated control strategy for the arms and waist during walking. Specifically, the waist increases the robot's step length, while the arms counteract disturbance momentum and maintain balance. Based on the aforementioned strategy, we design a whole-body coordination controller for the humanoid robot. This controller adopts a novel hierarchical design approach, in which the dynamics and motion controllers for the upper and lower body are modeled and managed separately. This helps avoid the issue of poor control performance caused by multi-task coupling in traditional whole-body controllers. Finally, we integrate these controllers into a novel walking control framework and validate it on the simulation prototype of the humanoid robot Dexbot. Simulation results show that the proposed framework significantly enhances the maximum walking capability of the humanoid robot, demonstrating its feasibility and effectiveness.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"19 ","pages":"1538979"},"PeriodicalIF":2.6,"publicationDate":"2025-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11885507/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143584898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A survey of decision-making and planning methods for self-driving vehicles.","authors":"Jun Hu, Yuefeng Wang, Shuai Cheng, Jinghan Xu, Ningjia Wang, Bingjie Fu, Zuotao Ning, Jingyao Li, Hualin Chen, Chaolu Feng, Yin Zhang","doi":"10.3389/fnbot.2025.1451923","DOIUrl":"10.3389/fnbot.2025.1451923","url":null,"abstract":"<p><p>Autonomous driving technology has garnered significant attention due to its potential to revolutionize transportation through advanced robotic systems. Despite optimistic projections for commercial deployment, the development of sophisticated autonomous driving systems remains largely experimental, with the effectiveness of neurorobotics-based decision-making and planning algorithms being crucial for success. This paper delivers a comprehensive review of decision-making and planning algorithms in autonomous driving, covering both knowledge-driven and data-driven approaches. For knowledge-driven methods, this paper explores independent decision-making systems, including rule based, state transition based, game-theory based methods and independent planing systems including search based, sampling based, and optimization based methods. For data-driven methods, it provides a detailed analysis of machine learning paradigms such as imitation learning, reinforcement learning, and inverse reinforcement learning. Furthermore, the paper discusses hybrid models that amalgamate the strengths of both data-driven and knowledge-driven approaches, offering insights into their implementation and challenges. By evaluating experimental platforms, this paper guides the selection of appropriate testing and validation strategies. Through comparative analysis, this paper elucidates the advantages and disadvantages of each method, facilitating the design of more robust autonomous driving systems. Finally, this paper addresses current challenges and offers a perspective on future developments in this rapidly evolving field.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"19 ","pages":"1451923"},"PeriodicalIF":2.6,"publicationDate":"2025-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11876185/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143556531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Path planning of mobile robot based on improved double deep Q-network algorithm.","authors":"Zhenggang Wang, Shuhong Song, Shenghui Cheng","doi":"10.3389/fnbot.2025.1512953","DOIUrl":"10.3389/fnbot.2025.1512953","url":null,"abstract":"<p><p>Aiming at the problems of slow network convergence, poor reward convergence stability, and low path planning efficiency of traditional deep reinforcement learning algorithms, this paper proposes a BiLSTM-D3QN (Bidirectional Long and Short-Term Memory Dueling Double Deep Q-Network) path planning algorithm based on the DDQN (Double Deep Q-Network) decision model. Firstly, a Bidirectional Long Short-Term Memory network (BiLSTM) is introduced to make the network have memory, increase the stability of decision making and make the reward converge more stably; secondly, Dueling Network is introduced to further solve the problem of overestimating the Q-value of the neural network, which makes the network able to be updated quickly; Adaptive reprioritization based on the frequency penalty function is proposed. Experience Playback, which extracts important and fresh data from the experience pool to accelerate the convergence of the neural network; finally, an adaptive action selection mechanism is introduced to further optimize the action exploration. Simulation experiments show that the BiLSTM-D3QN path planning algorithm outperforms the traditional Deep Reinforcement Learning algorithm in terms of network convergence speed, planning efficiency, stability of reward convergence, and success rate in simple environments; in complex environments, the path length of BiLSTM-D3QN is 20 m shorter than that of the improved ERDDQN (Experience Replay Double Deep Q-Network) algorithm, the number of turning points is 7 fewer, the planning time is 0.54 s shorter, and the success rate is 10.4% higher. The superiority of the BiLSTM-D3QN algorithm in terms of network convergence speed and path planning performance is demonstrated.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"19 ","pages":"1512953"},"PeriodicalIF":2.6,"publicationDate":"2025-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11865209/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143523242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Latent space improved masked reconstruction model for human skeleton-based action recognition.","authors":"Enqing Chen, Xueting Wang, Xin Guo, Ying Zhu, Dong Li","doi":"10.3389/fnbot.2025.1482281","DOIUrl":"10.3389/fnbot.2025.1482281","url":null,"abstract":"<p><p>Human skeleton-based action recognition is an important task in the field of computer vision. In recent years, masked autoencoder (MAE) has been used in various fields due to its powerful self-supervised learning ability and has achieved good results in masked data reconstruction tasks. However, in visual classification tasks such as action recognition, the limited ability of the encoder to learn features in the autoencoder structure results in poor classification performance. We propose to enhance the encoder's feature extraction ability in classification tasks by leveraging the latent space of variational autoencoder (VAE) and further replace it with the latent space of vector quantized variational autoencoder (VQVAE). The constructed models are called SkeletonMVAE and SkeletonMVQVAE, respectively. In SkeletonMVAE, we constrain the latent variables to represent features in the form of distributions. In SkeletonMVQVAE, we discretize the latent variables. These help the encoder learn deeper data structures and more discriminative and generalized feature representations. The experiment results on the NTU-60 and NTU-120 datasets demonstrate that our proposed method can effectively improve the classification accuracy of the encoder in classification tasks and its generalization ability in the case of few labeled data. SkeletonMVAE exhibits stronger classification ability, while SkeletonMVQVAE exhibits stronger generalization in situations with fewer labeled data.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"19 ","pages":"1482281"},"PeriodicalIF":2.6,"publicationDate":"2025-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11947723/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143729601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A conceptual approach to material detection based on damping vibration-force signals via robot.","authors":"Ahmad Saleh Asheghabadi, Mohammad Keymanesh, Saeed Bahrami Moqadam, Jing Xu","doi":"10.3389/fnbot.2025.1503398","DOIUrl":"10.3389/fnbot.2025.1503398","url":null,"abstract":"<p><strong>Introduction: </strong>Object perception, particularly material detection, is predominantly performed through texture recognition, which presents significant limitations. These methods are insufficient to distinguish between different materials with similar surface roughness, and noise caused by tactile movements affects the system performance.</p><p><strong>Methods: </strong>This paper presents a straightforward, impact-based approach to identifying materials, utilizing the cantilever beam mechanism in the UR5e robot's artificial finger. To detect object material, an elastic metal sheet was fixed to a load cell with an accelerometer and a metal appendage positioned above and below its free end, respectively. After recording the damping force signal and vibration data from the load cell and accelerometer caused by the metal appendage's impact, features such as vibration amplitude, damping time, wavelength, and force amplitude were retrieved. Three machine-learning techniques were then used to classify the objects' materials according to their damping rates. Data clustering was performed using the deflection of the cantilever beam to boost classification accuracy.</p><p><strong>Results and discussion: </strong>Online object materials detection shows an accuracy of 95.46% in a study of ten objects [metals (steel, cast iron), plastics (foam, compressed plastic), wood, silicon, rubber, leather, brick and cartoon]. This method overcomes the limitations of the tactile approach and has the potential to be used in industrial robots.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"19 ","pages":"1503398"},"PeriodicalIF":2.6,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11850379/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143500556","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A scalable multi-modal learning fruit detection algorithm for dynamic environments.","authors":"Liang Mao, Zihao Guo, Mingzhe Liu, Yue Li, Linlin Wang, Jie Li","doi":"10.3389/fnbot.2024.1518878","DOIUrl":"10.3389/fnbot.2024.1518878","url":null,"abstract":"<p><strong>Introduction: </strong>To enhance the detection of litchi fruits in natural scenes, address challenges such as dense occlusion and small target identification, this paper proposes a novel multimodal target detection method, denoted as YOLOv5-Litchi.</p><p><strong>Methods: </strong>Initially, the Neck layer network of YOLOv5s is simplified by changing its FPN+PAN structure to an FPN structure and increasing the number of detection heads from 3 to 5. Additionally, the detection heads with resolutions of 80 × 80 pixels and 160 × 160 pixels are replaced by TSCD detection heads to enhance the model's ability to detect small targets. Subsequently, the positioning loss function is replaced with the EIoU loss function, and the confidence loss is substituted by VFLoss to further improve the accuracy of the detection bounding box and reduce the missed detection rate in occluded targets. A sliding slice method is then employed to predict image targets, thereby reducing the miss rate of small targets.</p><p><strong>Results: </strong>Experimental results demonstrate that the proposed model improves accuracy, recall, and mean average precision (mAP) by 9.5, 0.9, and 12.3 percentage points, respectively, compared to the original YOLOv5s model. When benchmarked against other models such as YOLOx, YOLOv6, and YOLOv8, the proposed model's AP value increases by 4.0, 6.3, and 3.7 percentage points, respectively.</p><p><strong>Discussion: </strong>The improved network exhibits distinct improvements, primarily focusing on enhancing the recall rate and AP value, thereby reducing the missed detection rate which exhibiting a reduced number of missed targets and a more accurate prediction frame, indicating its suitability for litchi fruit detection. Therefore, this method significantly enhances the detection accuracy of mature litchi fruits and effectively addresses the challenges of dense occlusion and small target detection, providing crucial technical support for subsequent litchi yield estimation.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"18 ","pages":"1518878"},"PeriodicalIF":2.6,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11841473/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143467727","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Universal slip detection of robotic hand with tactile sensing.","authors":"Chuangri Zhao, Yang Yu, Zeqi Ye, Ziyang Tian, Yifan Zhang, Ling-Li Zeng","doi":"10.3389/fnbot.2025.1478758","DOIUrl":"10.3389/fnbot.2025.1478758","url":null,"abstract":"<p><p>Slip detection is to recognize whether an object remains stable during grasping, which can significantly enhance manipulation dexterity. In this study, we explore slip detection for five-finger robotic hands being capable of performing various grasp types, and detect slippage across all five fingers as a whole rather than concentrating on individual fingertips. First, we constructed a dataset collected during the grasping of common objects from daily life across six grasp types, comprising more than 200 k data points. Second, according to the principle of deep double descent, we designed a lightweight universal slip detection convolutional network for different grasp types (USDConvNet-DG) to classify grasp states (no-touch, slipping, and stable grasp). By combining frequency with time domain features, the network achieves a computation time of only 1.26 ms and an average accuracy of over 97% on both the validation and test datasets, demonstrating strong generalization capabilities. Furthermore, we validated the proposed USDConvNet-DG in real-time grasp force adjustment in real-world scenarios, showing that it can effectively improve the stability and reliability of robotic manipulation.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"19 ","pages":"1478758"},"PeriodicalIF":2.6,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11843555/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143482326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Construction of multi-robot platform based on dobot robots.","authors":"Jinchi Han, Duojicairang Ma","doi":"10.3389/fnbot.2025.1550787","DOIUrl":"10.3389/fnbot.2025.1550787","url":null,"abstract":"<p><p>For the researches of cooperative control scheme for multirobot systems, this paper sets up an experimental platform based on dobot robots, which can be used to perform physical experiments to verify related schemes. A distributed scheme is proposed to achieve cooperative control for multirobot systems. Simulation results prove the effectiveness of the distributed scheme. Then, the experimental platform based on dobot robots is built to verify the proposed scheme. Specifically, a computer sends data to the microcontroller inside the host through WiFi communication, then the host distributes data to the slaves. Finally, the physical experiment of related schemes is performed on the experimental platform. Comparing the simulations with the physical experiments, the task is successfully completed on this experimental platform, which proves the effectiveness of the scheme and the feasibility of the platform. The experimental platform developed in this paper possesses the capability to validate various schemes and exhibits strong expandability and practicality.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"19 ","pages":"1550787"},"PeriodicalIF":2.6,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11835969/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143457683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}