Jinhu Lü

2papers

2 Papers

48.2LGMar 25
Kirchhoff-Inspired Neural Networks for Evolving High-Order Perception

Tongfei Chen, Jingying Yang, Linlin Yang et al.

Deep learning architectures are fundamentally inspired by neuroscience, particularly the structure of the brain's sensory pathways, and have achieved remarkable success in learning informative data representations. Although these architectures mimic the communication mechanisms of biological neurons, their strategies for information encoding and transmission are fundamentally distinct. Biological systems depend on dynamic fluctuations in membrane potential; by contrast, conventional deep networks optimize weights and biases by adjusting the strengths of inter-neural connections, lacking a systematic mechanism to jointly characterize the interplay among signal intensity, coupling structure, and state evolution. To tackle this limitation, we propose the Kirchhoff-Inspired Neural Network (KINN), a state-variable-based network architecture constructed based on Kirchhoff's current law. KINN derives numerically stable state updates from fundamental ordinary differential equations, enabling the explicit decoupling and encoding of higher-order evolutionary components within a single layer while preserving physical consistency, interpretability, and end-to-end trainability. Extensive experiments on partial differential equation (PDE) solving and ImageNet image classification validate that KINN outperforms state-of-the-art existing methods.

38.4ROMar 24
Integrated cooperative localization of heterogeneous measurement swarm: A unified data-driven method

Kunrui Ze, Wei Wang, Guibin Sun et al.

The cooperative localization (CL) problem in heterogeneous robotic systems with different measurement capabilities is investigated in this work. In practice, heterogeneous sensors lead to directed and sparse measurement topologies, whereas most existing CL approaches rely on multilateral localization with restrictive multi-neighbor geometric requirements. To overcome this limitation, we enable pairwise relative localization (RL) between neighboring robots using only mutual measurement and odometry information. A unified data-driven adaptive RL estimator is first developed to handle heterogeneous and unidirectional measurements. Based on the convergent RL estimates, a distributed pose-coupling CL strategy is then designed, which guarantees CL under a weakly connected directed measurement topology, representing the least restrictive condition among existing results. The proposed method is independent of specific control tasks and is validated through a formation control application and real-world experiments.