Towards Sensorimotor Coupling of a Spiking Neural Network and Deep Reinforcement Learning for Robotics Application

Deep reinforcement learning augments the reinforcement learning framework and utilizes the powerful representation of deep neural networks. Recent works have demonstrated the great achievements of deep reinforcement learning in various domains including finance,medicine, healthcare, video games, robotics and computer vision.Deep neural network was started with multi-layer perceptron (1stgeneration) and developed to deep neural networks (2ndgeneration)and it is moving forward to spiking neural networks which are knownas3rdgeneration of neural networks. Spiking neural networks aim to bridge the gap between neuroscience and machine learning, using biologically-realistic models of neurons to carry out computation. In this thesis, we first provide a comprehensive review on both spiking neural networks and deep reinforcement learning with emphasis on robotic applications. Then we will demonstrate how to develop a robotics application for context-aware scene understanding to perform sensorimotor coupling. Our system contains two modules corresponding to scene understanding and robotic navigation. The first module is implemented as a spiking neural network to carry out semantic segmentation to understand the scene in front of the robot. The second module provides a high-level navigation command to robot, which is considered as an agent and implemented by online reinforcement learning. The module was implemented with biologically plausible local learning rule that allows the agent to adopt quickly to the environment. To benchmark our system, we have tested the first module on Oxford-IIIT Pet dataset and the second module on the custom-made Gym environment. Our experimental results have proven that our system is able present the competitive results with deep neural network in segmentation task and adopts quickly to the environment

A review of learning in biologically plausible spiking neural networks

Artificial neural networks have been used as a powerful processing tool in various areas such as pattern recognition, control, robotics, and bioinformatics. Their wide applicability has encouraged researchers to improve artificial neural networks by investigating the biological brain. Neurological research has significantly progressed in recent years and continues to reveal new characteristics of biological neurons. New technologies can now capture temporal changes in the internal activity of the brain in more detail and help clarify the relationship between brain activity and the perception of a given stimulus. This new knowledge has led to a new type of artificial neural network, the Spiking Neural Network (SNN), that draws more faithfully on biological properties to provide higher processing abilities. A review of recent developments in learning of spiking neurons is presented in this paper. First the biological background of SNN learning algorithms is reviewed. The important elements of a learning algorithm such as the neuron model, synaptic plasticity, information encoding and SNN topologies are then presented. Then, a critical review of the state-of-the-art learning algorithms for SNNs using single and multiple spikes is presented. Additionally, deep spiking neural networks are reviewed, and challenges and opportunities in the SNN field are discussed

Biologically plausible deep learning -- but how far can we go with shallow networks?

Training deep neural networks with the error backpropagation algorithm is considered implausible from a biological perspective. Numerous recent publications suggest elaborate models for biologically plausible variants of deep learning, typically defining success as reaching around 98% test accuracy on the MNIST data set. Here, we investigate how far we can go on digit (MNIST) and object (CIFAR10) classification with biologically plausible, local learning rules in a network with one hidden layer and a single readout layer. The hidden layer weights are either fixed (random or random Gabor filters) or trained with unsupervised methods (PCA, ICA or Sparse Coding) that can be implemented by local learning rules. The readout layer is trained with a supervised, local learning rule. We first implement these models with rate neurons. This comparison reveals, first, that unsupervised learning does not lead to better performance than fixed random projections or Gabor filters for large hidden layers. Second, networks with localized receptive fields perform significantly better than networks with all-to-all connectivity and can reach backpropagation performance on MNIST. We then implement two of the networks - fixed, localized, random & random Gabor filters in the hidden layer - with spiking leaky integrate-and-fire neurons and spike timing dependent plasticity to train the readout layer. These spiking models achieve > 98.2% test accuracy on MNIST, which is close to the performance of rate networks with one hidden layer trained with backpropagation. The performance of our shallow network models is comparable to most current biologically plausible models of deep learning. Furthermore, our results with a shallow spiking network provide an important reference and suggest the use of datasets other than MNIST for testing the performance of future models of biologically plausible deep learning.Comment: 14 pages, 4 figure

Spiking neurons with short-term synaptic plasticity form superior generative networks

Spiking networks that perform probabilistic inference have been proposed both as models of cortical computation and as candidates for solving problems in machine learning. However, the evidence for spike-based computation being in any way superior to non-spiking alternatives remains scarce. We propose that short-term plasticity can provide spiking networks with distinct computational advantages compared to their classical counterparts. In this work, we use networks of leaky integrate-and-fire neurons that are trained to perform both discriminative and generative tasks in their forward and backward information processing paths, respectively. During training, the energy landscape associated with their dynamics becomes highly diverse, with deep attractor basins separated by high barriers. Classical algorithms solve this problem by employing various tempering techniques, which are both computationally demanding and require global state updates. We demonstrate how similar results can be achieved in spiking networks endowed with local short-term synaptic plasticity. Additionally, we discuss how these networks can even outperform tempering-based approaches when the training data is imbalanced. We thereby show how biologically inspired, local, spike-triggered synaptic dynamics based simply on a limited pool of synaptic resources can allow spiking networks to outperform their non-spiking relatives.Comment: corrected typo in abstrac