arXiv subjects

Alper Yegenoglu

Publications and source records attributed to Alper Yegenoglu.

7 recordsLinked to original sources

arXiv2026

Fuzzy Logic Theory-based Adaptive Reward Shaping for Robust Reinforcement Learning (FARS)

Reinforcement learning (RL) often struggles in real-world tasks with high-dimensional state spaces and long horizons, where sparse or fixed rewards severely slow down exploration and cause agents to get trapped in local optima. This paper presents a fuzzy logic based reward shaping method that integrates human intuition into RL reward design. By encoding expert knowledge into adaptive and interpreable terms, fuzzy rules promote stable learning and reduce sensitivity to hyperparameters. The proposed method leverages these properties to adapt reward contributions based on the agent state, enabling smoother transitions between fast motion and precise control in challenging navigation tasks. Extensive simulation results on autonomous drone racing benchmarks show stable learning behavior and consistent task performance across scenarios of increasing difficulty. The proposed method achieves faster convergence and reduced performance variability across training seeds in more challenging environments, with success rates improving by up to approximately 5 percent compared to non fuzzy reward formulations.

cs.RO↗

arXiv2026

Thermal Image Refinement with Depth Estimation using Recurrent Networks for Monocular ORB-SLAM3

Autonomous navigation in GPS-denied and visually degraded environments remains challenging for unmanned aerial vehicles (UAVs). To this end, we investigate the use of a monocular thermal camera as a standalone sensor on a UAV platform for real-time depth estimation and simultaneous localization and mapping (SLAM). To extract depth information from thermal images, we propose a novel pipeline employing a lightweight supervised network with recurrent blocks (RBs) integrated to capture temporal dependencies, enabling more robust predictions. The network combines lightweight convolutional backbones with a thermal refinement network (T-RefNet) to refine raw thermal inputs and enhance feature visibility. The refined thermal images and predicted depth maps are integrated into ORB-SLAM3, enabling thermal-only localization. Unlike previous methods, the network is trained on a custom non-radiometric dataset, obviating the need for high-cost radiometric thermal cameras. Experimental results on datasets and UAV flights demonstrate competitive depth accuracy and robust SLAM performance under low-light conditions. On the radiometric VIVID++ (indoor-dark) dataset, our method achieves an absolute relative error of approximately 0.06, compared to baselines exceeding 0.11. In our non-radiometric indoor set, baseline errors remain above 0.24, whereas our approach remains below 0.10. Thermal-only ORB-SLAM3 maintains a mean trajectory error under 0.4 m.

cs.CV↗

arXiv2025

Multi-Agent Systems Powered by Large Language Models: Applications in Swarm Intelligence

This work examines the integration of large language models (LLMs) into multi-agent simulations by replacing the hard-coded programs of agents with LLM-driven prompts. The proposed approach is showcased in the context of two examples of complex systems from the field of swarm intelligence: ant colony foraging and bird flocking. Central to this study is a toolchain that integrates LLMs with the NetLogo simulation platform, leveraging its Python extension to enable communication with GPT-4o via the OpenAI API. This toolchain facilitates prompt-driven behavior generation, allowing agents to respond adaptively to environmental data. For both example applications mentioned above, we employ both structured, rule-based prompts and autonomous, knowledge-driven prompts. Our work demonstrates how this toolchain enables LLMs to study self-organizing processes and induce emergent behaviors within multi-agent environments, paving the way for new approaches to exploring intelligent systems and modeling swarm intelligence inspired by natural phenomena. We provide the code, including simulation files and data at https://github.com/crjimene/swarm_gpt.

cs.MA↗

arXiv2023

Two-compartment neuronal spiking model expressing brain-state specific apical-amplification, -isolation and -drive regimes

Mounting experimental evidence suggests that brain-state-specific neural mechanisms, supported by connectomic architectures, play a crucial role in integrating past and contextual knowledge with the current, incoming flow of evidence (e.g., from sensory systems). These mechanisms operate across multiple spatial and temporal scales, necessitating dedicated support at the levels of individual neurons and synapses. A notable feature within the neocortex is the structure of large, deep pyramidal neurons, which exhibit a distinctive separation between an apical dendritic compartment and a basal dendritic/perisomatic compartment. This separation is characterized by distinct patterns of incoming connections and brain-state-specific activation mechanisms, namely, apical amplification, isolation, and drive, which are associated with wakefulness, deeper NREM sleep stages, and REM sleep, respectively. The cognitive roles of apical mechanisms have been demonstrated in behaving animals. In contrast, classical models of learning in spiking networks are based on single-compartment neurons, lacking the ability to describe the integration of apical and basal/somatic information. This work aims to provide the computational community with a two-compartment spiking neuron model that incorporates features essential for supporting brain-state-specific learning. This model includes a piece-wise linear transfer function (ThetaPlanes) at the highest abstraction level, making it suitable for use in large-scale bio-inspired artificial intelligence systems. A machine learning evolutionary algorithm, guided by a set of fitness functions, selected the parameters that define neurons expressing the desired apical mechanisms.

q-bio.NC↗

arXiv2022

Emergent communication enhances foraging behaviour in evolved swarms controlled by Spiking Neural Networks

Social insects such as ants communicate via pheromones which allows them to coordinate their activity and solve complex tasks as a swarm, e.g. foraging for food. This behavior was shaped through evolutionary processes. In computational models, self-coordination in swarms has been implemented using probabilistic or simple action rules to shape the decision of each agent and the collective behavior. However, manual tuned decision rules may limit the behavior of the swarm. In this work we investigate the emergence of self-coordination and communication in evolved swarms without defining any explicit rule. We evolve a swarm of agents representing an ant colony. We use an evolutionary algorithm to optimize a spiking neural network (SNN) which serves as an artificial brain to control the behavior of each agent. The goal of the evolved colony is to find optimal ways to forage for food and return it to the nest in the shortest amount of time. In the evolutionary phase, the ants are able to learn to collaborate by depositing pheromone near food piles and near the nest to guide other ants. The pheromone usage is not manually encoded into the network; instead, this behavior is established through the optimization procedure. We observe that pheromone-based communication enables the ants to perform better in comparison to colonies where communication via pheromone did not emerge. We assess the foraging performance by comparing the SNN based model to a rule based system. Our results show that the SNN based model can efficiently complete the foraging task in a short amount of time. Our approach illustrates self coordination via pheromone emerges as a result of the network optimization. This work serves as a proof of concept for the possibility of creating complex applications utilizing SNNs as underlying architectures for multi-agent interactions where communication and self-coordination is desired.

cs.NE↗

arXiv2022

Exploring hyper-parameter spaces of neuroscience models on high performance computers with Learning to Learn

Neuroscience models commonly have a high number of degrees of freedom and only specific regions within the parameter space are able to produce dynamics of interest. This makes the development of tools and strategies to efficiently find these regions of high importance to advance brain research. Exploring the high dimensional parameter space using numerical simulations has been a frequently used technique in the last years in many areas of computational neuroscience. High performance computing (HPC) can provide today a powerful infrastructure to speed up explorations and increase our general understanding of the model's behavior in reasonable times.

cs.NE↗

arXiv2021

Generalised learning of time-series: Ornstein-Uhlenbeck processes

In machine learning, statistics, econometrics and statistical physics, cross-validation (CV) is used asa standard approach in quantifying the generalisation performance of a statistical model. A directapplication of CV in time-series leads to the loss of serial correlations, a requirement of preserving anynon-stationarity and the prediction of the past data using the future data. In this work, we proposea meta-algorithm called reconstructive cross validation (rCV ) that avoids all these issues. At first,k folds are formed with non-overlapping randomly selected subsets of the original time-series. Then,we generate k new partial time-series by removing data points from a given fold: every new partialtime-series have missing points at random from a different entire fold. A suitable imputation or asmoothing technique is used to reconstruct k time-series. We call these reconstructions secondarymodels. Thereafter, we build the primary k time-series models using new time-series coming fromthe secondary models. The performance of the primary models are evaluated simultaneously bycomputing the deviations from the originally removed data points and out-of-sample (OSS) data.Full cross-validation in time-series models can be practiced with rCV along with generating learning curves.

stat.ML↗