An equilibrium-propagation-based PPO controller for a 12-DoF quadruped achieves locomotion performance comparable to backpropagation-trained PPO on uneven terrain while using 4.3 times less GPU memory.
Lillicrap, Daniel Cownden, Douglas B
2 Pith papers cite this work. Polarity classification is still indexing.
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2026 2verdicts
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Modified feedback alignment in convolutional networks produces representations geometrically aligned with backpropagation on CIFAR-10.
citing papers explorer
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Neuromorphic Reinforcement Learning for Quadruped Locomotion Control on Uneven Terrain
An equilibrium-propagation-based PPO controller for a 12-DoF quadruped achieves locomotion performance comparable to backpropagation-trained PPO on uneven terrain while using 4.3 times less GPU memory.
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Biological Plausibility and Representational Alignment of Feedback Alignment in Convolutional Networks
Modified feedback alignment in convolutional networks produces representations geometrically aligned with backpropagation on CIFAR-10.