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Cross-Modal Learning Filters for RGB-Neuromorphic Wormhole Learning. Alessandro Zanardi, Andreas Aumiller, Julian Zilly, Andrea Censi and Emilio Frazzoli. 1Institute for Dynamic Systems and Control, ETH Zurich. 4 RGB- Neuromorphic Results. Fig. 1. The principle of wormhole learning is illustrated. It begins with. Affiliations: [Institute for Dynamic Systems and Control (IDSC), ETH Zurich, Switzerland] Training Set,Transfer Learning,Transfer Step,Wormhole,. Skip to Main.