Bayesian Integration in a Spiking Neural System for Sensorimotor Control

The brain continuously estimates the state of body and environment, with specific regions that are thought to act as Bayesian estimator, optimally integrating noisy and delayed sensory feedback with sensory predictions generated by the cerebellum. In control theory, Bayesian estimators are usually implemented using high-level representations. In this work, we designed a new spike-based computational model of a Bayesian estimator. The state estimator receives spiking activity from two neural populations encoding the sensory feedback and the cerebellar prediction, and it continuously computes the spike variability within each population as a reliability index of the signal these populations encode. The state estimator output encodes the current state estimate. We simulated a reaching task at different stages of cerebellar learning. The activity of the sensory feedback neurons encoded a noisy version of the trajectory after actual movement, with an almost constant intrapopulation spiking variability. Conversely, the activity of the cerebellar output neurons depended on the phase of the learning process. Before learning, they fired at their baseline not encoding any relevant information, and the variability was set to be higher than that of the sensory feedback (more reliable, albeit delayed). When learning was complete, their activity encoded the trajectory before the actual execution, providing an accurate sensory prediction; in this case, the variability was set to be lower than that of the sensory feedback. The state estimator model optimally integrated the neural activities of the afferent populations, so that the output state estimate was primarily driven by sensory feedback in prelearning and by the cerebellar prediction in postlearning. It was able to deal even with more complex scenarios, for example, by shifting the dominant source during the movement execution if information availability suddenly changed. The proposed tool will be a critical block within integrated spiking, brain-inspired control systems for simulations of sensorimotor tasks

Emergence of associative learning in a neuromorphic inference network

OBJECTIVE: In the theoretical framework of predictive coding and active inference, the brain can be viewed as instantiating a rich generative model of the world that predicts incoming sensory data while continuously updating its parameters via minimization of prediction errors. While this theory has been successfully applied to cognitive processes - by modelling the activity of functional neural networks at a mesoscopic scale - the validity of the approach when modelling neurons as an ensemble of inferring agents, in a biologically plausible architecture, remained to be explored. APPROACH: We modelled a simplified cerebellar circuit with individual neurons acting as Bayesian agents to simulate the classical delayed eyeblink conditioning protocol. Neurons and synapses adjusted their activity to minimize their prediction error, which was used as the network cost function. This cerebellar network was then implemented in hardware by replicating digital neuronal elements via a low-power microcontroller. MAIN RESULTS: Persistent changes of synaptic strength - that mirrored neurophysiological observations - emerged via local (neurocentric) prediction error minimization, leading to the expression of associative learning. The same paradigm was effectively emulated in low-power hardware showing remarkably efficient performance compared to conventional neuromorphic architectures. SIGNIFICANCE: These findings show that: i) an ensemble of free energy minimizing neurons - organized in a biological plausible architecture - can recapitulate functional self-organization observed in nature, such as associative plasticity, and ii) a neuromorphic network of inference units can learn unsupervised tasks without embedding predefined learning rules in the circuit, thus providing a potential avenue to a novel form of brain-inspired artificial intelligence

Emergence of associative learning in a neuromorphic inference network

Objective. In the theoretical framework of predictive coding and active inference, the brain can be viewed as instantiating a rich generative model of the world that predicts incoming sensory data while continuously updating its parameters via minimization of prediction errors. While this theory has been successfully applied to cognitive processes-by modelling the activity of functional neural networks at a mesoscopic scale-the validity of the approach when modelling neurons as an ensemble of inferring agents, in a biologically plausible architecture, remained to be explored.Approach.We modelled a simplified cerebellar circuit with individual neurons acting as Bayesian agents to simulate the classical delayed eyeblink conditioning protocol. Neurons and synapses adjusted their activity to minimize their prediction error, which was used as the network cost function. This cerebellar network was then implemented in hardware by replicating digital neuronal elements via a low-power microcontroller.Main results. Persistent changes of synaptic strength-that mirrored neurophysiological observations-emerged via local (neurocentric) prediction error minimization, leading to the expression of associative learning. The same paradigm was effectively emulated in low-power hardware showing remarkably efficient performance compared to conventional neuromorphic architectures.Significance. These findings show that: (a) an ensemble of free energy minimizing neurons-organized in a biological plausible architecture-can recapitulate functional self-organization observed in nature, such as associative plasticity, and (b) a neuromorphic network of inference units can learn unsupervised tasks without embedding predefined learning rules in the circuit, thus providing a potential avenue to a novel form of brain-inspired artificial intelligence

Bioinspired Adaptive Spiking Neural Network to Control NAO Robot in a Pavlovian Conditioning Task

The cerebellum has a central role in fine motor control and in various neural processes, as in associative paradigms. In this work, a bioinspired adaptive model, developed by means of a spiking neural network made of thousands of artificial neurons, has been leveraged to control a humanoid NAO robot in real-time. The learning properties of the system have been challenged in a classic cerebellum-driven paradigm, the Pavlovian timing association between two provided stimuli, here implemented as a laser-avoidance task. The neurophysiological principles used to develop the model, succeeded in driving an adaptive motor control protocol with acquisition and extinction phases. The spiking neural network model showed learning behaviors similar to the ones experimentally measured with human subjects in the same conditioning task. The model processed in real-time external inputs, encoded as spikes, and the generated spiking activity of its output neurons was decoded, in order to trigger the proper response with a correct timing. Three long-term plasticity rules have been embedded for different connections and with different time-scales. The plasticities shaped the firing activity of the output layer neurons of the network. In the Pavlovian protocol, the neurorobot successfully learned the correct timing association, generating appropriate responses. Therefore, the spiking cerebellar model was able to reproduce in the robotic platform how biological systems acquire and extinguish associative responses, dealing with noise and uncertainties of a real-world environment