Behavioral Learning in a Cognitive Neuromorphic Robot: An Integrative Approach

We present here a learning system using the iCub humanoid robot and the SpiNNaker neuromorphic chip to solve the real-world task of object-specific attention. Integrating spiking neural networks with robots introduces considerable complexity for questionable benefit if the objective is simply task performance. But, we suggest, in a cognitive robotics context, where the goal is understanding how to compute, such an approach may yield useful insights to neural architecture as well as learned behavior, especially if dedicated neural hardware is available. Recent advances in cognitive robotics and neuromorphic processing now make such systems possible. Using a scalable, structured, modular approach, we build a spiking neural network where the effects and impact of learning can be predicted and tested, and the network can be scaled or extended to new tasks automatically. We introduce several enhancements to a basic network and show how they can be used to direct performance toward behaviorally relevant goals. Results show that using a simple classical spike-timing-dependent plasticity (STDP) rule on selected connections, we can get the robot (and network) to progress from poor task-specific performance to good performance. Behaviorally relevant STDP appears to contribute strongly to positive learning: “do this” but less to negative learning: “don't do that.” In addition, we observe that the effect of structural enhancements tends to be cumulative. The overall system suggests that it is by being able to exploit combinations of effects, rather than any one effect or property in isolation, that spiking networks can achieve compelling, task-relevant behavior

Towards Real-World Neurorobotics: Integrated Neuromorphic Visual Attention

Neural Information Processing: 21st International Conference, ICONIP 2014, Kuching, Malaysia, November 3-6, 2014. Proceedings, Part IIINeuromorphic hardware and cognitive robots seem like an obvious fit, yet progress to date has been frustrated by a lack of tangible progress in achieving useful real-world behaviour. System limitations: the simple and usually proprietary nature of neuromorphic and robotic platforms, have often been the fundamental barrier. Here we present an integration of a mature “neuromimetic” chip, SpiNNaker, with the humanoid iCub robot using a direct AER - address-event representation - interface that overcomes the need for complex proprietary protocols by sending information as UDP-encoded spikes over an Ethernet link. Using an existing neural model devised for visual object selection, we enable the robot to perform a real-world task: fixating attention upon a selected stimulus. Results demonstrate the effectiveness of interface and model in being able to control the robot towards stimulus-specific object selection. Using SpiNNaker as an embeddable neuromorphic device illustrates the importance of two design features in a prospective neurorobot: universal configurability that allows the chip to be conformed to the requirements of the robot rather than the other way ’round, and stan- dard interfaces that eliminate difficult low-level issues of connectors, cabling, signal voltages, and protocols. While this study is only a building block towards that goal, the iCub-SpiNNaker system demonstrates a path towards meaningful behaviour in robots controlled by neural network chips

Sequencing of the Sea Lamprey (Petromyzon marinus) Genome Provides Insights into Vertebrate Evolution

Lampreys are representatives of an ancient vertebrate lineage that diverged from our own ∼500 million years ago. By virtue of this deeply shared ancestry, the sea lamprey (P. marinus) genome is uniquely poised to provide insight into the ancestry of vertebrate genomes and the underlying principles of vertebrate biology. Here, we present the first lamprey whole-genome sequence and assembly. We note challenges faced owing to its high content of repetitive elements and GC bases, as well as the absence of broad-scale sequence information from closely related species. Analyses of the assembly indicate that two whole-genome duplications likely occurred before the divergence of ancestral lamprey and gnathostome lineages. Moreover, the results help define key evolutionary events within vertebrate lineages, including the origin of myelin-associated proteins and the development of appendages. The lamprey genome provides an important resource for reconstructing vertebrate origins and the evolutionary events that have shaped the genomes of extant organisms

Virtual synaptic interconnect using an asynchronous network-on-chip

Abstract—Given the limited current understanding of the neural model of computation, hardware neural network archi-tectures that impose a specific relationship between physical connectivity and model topology are likely to be overly restric-tive. Here we introduce, in the SpiNNaker chip, an alternative approach: a mappable virtual topology using an asynchronous network-on-chip (NoC) that decouples the “logical ” connectivity map from the physical wiring. Borrowing the established digital RAM model for synapses, we develop a concurrent memory access channel optimised for neural processing that allows each processing node to perform its own synaptic updates as if the synapses were local to the node. The highly concurrent nature of interconnect access, however, requires careful design of intermediate buffering and arbitration. We show here how a locally buffered, one-transaction-per-node model with multipl

Scalable event-driven native parallel processing: The SpiNNaker neuromimetic system

Neural networks present a fundamentally different model of com-putation from the conventional sequential digital model. Modelling large networks on conventional hardware thus tends to be ineffi-cient if not impossible. Neither dedicated neural chips, with model limitations, nor FPGA implementations, with scalability limita-tions, offer a satisfactory solution even though they have improved simulation performance dramatically. SpiNNaker introduces a dif-ferent approach, the “neuromimetic ” architecture, that maintains the neural optimisation of dedicated chips while offering FPGA-like universal configurability. Central to this parallel multipro-cessor is an asynchronous event-driven model that uses interrupt-generating dedicated hardware on the chip to support real-time neu-ral simulation. While this architecture is particularly suitable for spiking models, it can also implement “classical ” neural model