ナビゲーションarXiv:2303.08109
昆虫に着想を得たスパースニューラルネットワークによる視覚ベースの経路追従
Vision-based route following by an embodied insect-inspired sparse neural network
昆虫の嗅覚回路に着想を得たスパースニューラルネットワークFlyHashを、視覚入力に基づく経路追従ナビゲーションに応用し、非スパースモデルと比較して効率性を検証した。
著者: Lu Yihe, Rana Alkhoury Maroun, Barbara Webb
分類: cs.NE, cs.LG, cs.RO
原文アブストラクト
We compared the efficiency of the FlyHash model, an insect-inspired sparse neural network (Dasgupta et al., 2017), to similar but non-sparse models in an embodied navigation task. This requires a model to control steering by comparing current visual inputs to memories stored along a training route. We concluded the FlyHash model is more efficient than others, especially in terms of data encoding.
