A Framework for Coupled Simulations of Robots and Spiking Neuronal Networks

Bio-inspired robots still rely on classic robot control although advances in neurophysiology allow adaptation to control as well. However, the connection of a robot to spiking neuronal networks needs adjustments for each purpose and requires frequent adaptation during an iterative development. Existing approaches cannot bridge the gap between robotics and neuroscience or do not account for frequent adaptations. The contribution of this paper is an architecture and domain-specific language (DSL) for connecting robots to spiking neuronal networks for iterative testing in simulations, allowing neuroscientists to abstract from implementation details. The framework is implemented in a web-based platform. We validate the applicability of our approach with a case study based on image processing for controlling a four-wheeled robot in an experiment setting inspired by Braitenberg vehicles

Closed loop interactions between spiking neural network and robotic simulators based on MUSIC and ROS

In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both reproducible and amenable to experimental manipulations is technically challenging, and even more so if a closed-loop scenario is required. In this work, we present a novel approach to solve this problem, connecting robotics and neural network simulators. We implement a middleware solution that bridges the Robotic Operating System (ROS) to the Multi-Simulator Coordinator (MUSIC). This enables any robotic and neural simulators that implement the corresponding interfaces to be efficiently coupled, allowing real-time performance for a wide range of configurations. This work extends the toolset available for researchers in both neurorobotics and computational neuroscience, and creates the opportunity to perform closed-loop experiments of arbitrary complexity to address questions in multiple areas, including embodiment, agency, and reinforcement learning

Neuronal assembly dynamics in supervised and unsupervised learning scenarios

The dynamic formation of groups of neurons—neuronal assemblies—is believed to mediate cognitive phenomena at many levels, but their detailed operation and mechanisms of interaction are still to be uncovered. One hypothesis suggests that synchronized oscillations underpin their formation and functioning, with a focus on the temporal structure of neuronal signals. In this context, we investigate neuronal assembly dynamics in two complementary scenarios: the first, a supervised spike pattern classification task, in which noisy variations of a collection of spikes have to be correctly labeled; the second, an unsupervised, minimally cognitive evolutionary robotics tasks, in which an evolved agent has to cope with multiple, possibly conflicting, objectives. In both cases, the more traditional dynamical analysis of the system’s variables is paired with information-theoretic techniques in order to get a broader picture of the ongoing interactions with and within the network. The neural network model is inspired by the Kuramoto model of coupled phase oscillators and allows one to fine-tune the network synchronization dynamics and assembly configuration. The experiments explore the computational power, redundancy, and generalization capability of neuronal circuits, demonstrating that performance depends nonlinearly on the number of assemblies and neurons in the network and showing that the framework can be exploited to generate minimally cognitive behaviors, with dynamic assembly formation accounting for varying degrees of stimuli modulation of the sensorimotor interactions

Evolutionary robotics and neuroscience

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The state of MIIND

MIIND (Multiple Interacting Instantiations of Neural Dynamics) is a highly modular multi-level C++ framework, that aims to shorten the development time for models in Cognitive Neuroscience (CNS). It offers reusable code modules (libraries of classes and functions) aimed at solving problems that occur repeatedly in modelling, but tries not to impose a specific modelling philosophy or methodology. At the lowest level, it offers support for the implementation of sparse networks. For example, the library SparseImplementationLib supports sparse random networks and the library LayerMappingLib can be used for sparse regular networks of filter-like operators. The library DynamicLib, which builds on top of the library SparseImplementationLib, offers a generic framework for simulating network processes. Presently, several specific network process implementations are provided in MIIND: the Wilson–Cowan and Ornstein–Uhlenbeck type, and population density techniques for leaky-integrate-and-fire neurons driven by Poisson input. A design principle of MIIND is to support detailing: the refinement of an originally simple model into a form where more biological detail is included. Another design principle is extensibility: the reuse of an existing model in a larger, more extended one. One of the main uses of MIIND so far has been the instantiation of neural models of visual attention. Recently, we have added a library for implementing biologically-inspired models of artificial vision, such as HMAX and recent successors. In the long run we hope to be able to apply suitably adapted neuronal mechanisms of attention to these artificial models

Connecting Artificial Brains to Robots in a Comprehensive Simulation Framework: The Neurorobotics Platform

Combined efforts in the fields of neuroscience, computer science, and biology allowed to design biologically realistic models of the brain based on spiking neural networks. For a proper validation of these models, an embodiment in a dynamic and rich sensory environment, where the model is exposed to a realistic sensory-motor task, is needed. Due to the complexity of these brain models that, at the current stage, cannot deal with real-time constraints, it is not possible to embed them into a real-world task. Rather, the embodiment has to be simulated as well. While adequate tools exist to simulate either complex neural networks or robots and their environments, there is so far no tool that allows to easily establish a communication between brain and body models. The Neurorobotics Platform is a new web-based environment that aims to fill this gap by offering scientists and technology developers a software infrastructure allowing them to connect brain models to detailed simulations of robot bodies and environments and to use the resulting neurorobotic systems for in silico experimentation. In order to simplify the workflow and reduce the level of the required programming skills, the platform provides editors for the specification of experimental sequences and conditions, environments, robots, and brain–body connectors. In addition to that, a variety of existing robots and environments are provided. This work presents the architecture of the first release of the Neurorobotics Platform developed in subproject 10 “Neurorobotics” of the Human Brain Project (HBP).1 At the current state, the Neurorobotics Platform allows researchers to design and run basic experiments in neurorobotics using simulated robots and simulated environments linked to simplified versions of brain models. We illustrate the capabilities of the platform with three example experiments: a Braitenberg task implemented on a mobile robot, a sensory-motor learning task based on a robotic controller, and a visual tracking embedding a retina model on the iCub humanoid robot. These use-cases allow to assess the applicability of the Neurorobotics Platform for robotic tasks as well as in neuroscientific experiments.The research leading to these results has received funding from the European Union Seventh Framework Programme (FP7/2007-2013) under grant agreement no. 604102 (Human Brain Project) and from the European Unions Horizon 2020 Research and Innovation Programme under Grant Agreement No. 720270 (HBP SGA1)