Spatial Memory in a Spiking Neural Network with Robot Embodiment.

Cognitive maps and spatial memory are fundamental paradigms of brain functioning. Here, we present a spiking neural network (SNN) capable of generating an internal representation of the external environment and implementing spatial memory. The SNN initially has a non-specific architecture, which is then shaped by Hebbian-type synaptic plasticity. The network receives stimuli at specific loci, while the memory retrieval operates as a functional SNN response in the form of population bursts. The SNN function is explored through its embodiment in a robot moving in an arena with safe and dangerous zones. We propose a measure of the global network memory using the synaptic vector field approach to validate results and calculate information characteristics, including learning curves. We show that after training, the SNN can effectively control the robot's cognitive behavior, allowing it to avoid dangerous regions in the arena. However, the learning is not perfect. The robot eventually visits dangerous areas. Such behavior, also observed in animals, enables relearning in time-evolving environments. If a dangerous zone moves into another place, the SNN remaps positive and negative areas, allowing escaping the catastrophic interference phenomenon known for some AI architectures. Thus, the robot adapts to changing world.

Competitive Learning in a Spiking Neural Network: Towards an Intelligent Pattern Classifier.

One of the modern trends in the design of human-machine interfaces (HMI) is to involve the so called spiking neuron networks (SNNs) in signal processing. The SNNs can be trained by simple and efficient biologically inspired algorithms. In particular, we have shown that sensory neurons in the input layer of SNNs can simultaneously encode the input signal based both on the spiking frequency rate and on varying the latency in generating spikes. In the case of such mixed temporal-rate coding, the SNN should implement learning working properly for both types of coding. Based on this, we investigate how a single neuron can be trained with pure rate and temporal patterns, and then build a universal SNN that is trained using mixed coding. In particular, we study Hebbian and competitive learning in SNN in the context of temporal and rate coding problems. We show that the use of Hebbian learning through pair-based and triplet-based spike timing-dependent plasticity (STDP) rule is accomplishable for temporal coding, but not for rate coding. Synaptic competition inducing depression of poorly used synapses is required to ensure a neural selectivity in the rate coding. This kind of competition can be implemented by the so-called forgetting function that is dependent on neuron activity. We show that coherent use of the triplet-based STDP and synaptic competition with the forgetting function is sufficient for the rate coding. Next, we propose a SNN capable of classifying electromyographical (EMG) patterns using an unsupervised learning procedure. The neuron competition achieved via lateral inhibition ensures the "winner takes all" principle among classifier neurons. The SNN also provides gradual output response dependent on muscular contraction strength. Furthermore, we modify the SNN to implement a supervised learning method based on stimulation of the target classifier neuron synchronously with the network input. In a problem of discrimination of three EMG patterns, the SNN with supervised learning shows median accuracy 99.5% that is close to the result demonstrated by multi-layer perceptron learned by back propagation of an error algorithm.

STDP-Driven Rewiring in Spiking Neural Networks under Stimulus-Induced and Spontaneous Activity.

Mathematical and computer simulation of learning in living neural networks have typically focused on changes in the efficiency of synaptic connections represented by synaptic weights in the models. Synaptic plasticity is believed to be the cellular basis for learning and memory. In spiking neural networks composed of dynamical spiking units, a biologically relevant learning rule is based on the so-called spike-timing-dependent plasticity or STDP. However, experimental data suggest that synaptic plasticity is only a part of brain circuit plasticity, which also includes homeostatic and structural plasticity. A model of structural plasticity proposed in this study is based on the activity-dependent appearance and disappearance of synaptic connections. The results of the research indicate that such adaptive rewiring enables the consolidation of the effects of STDP in response to a local external stimulation of a neural network. Subsequently, a vector field approach is used to demonstrate the successive "recording" of spike paths in both functional connectome and synaptic connectome, and finally in the anatomical connectome of the network. Moreover, the findings suggest that the adaptive rewiring could stabilize network dynamics over time in the context of activity patterns' reproducibility. A universal measure of such reproducibility introduced in this article is based on similarity between time-consequent patterns of the special vector fields characterizing both functional and anatomical connectomes.

Toward Reflective Spiking Neural Networks Exploiting Memristive Devices.

The design of modern convolutional artificial neural networks (ANNs) composed of formal neurons copies the architecture of the visual cortex. Signals proceed through a hierarchy, where receptive fields become increasingly more complex and coding sparse. Nowadays, ANNs outperform humans in controlled pattern recognition tasks yet remain far behind in cognition. In part, it happens due to limited knowledge about the higher echelons of the brain hierarchy, where neurons actively generate predictions about what will happen next, i.e., the information processing jumps from reflex to reflection. In this study, we forecast that spiking neural networks (SNNs) can achieve the next qualitative leap. Reflective SNNs may take advantage of their intrinsic dynamics and mimic complex, not reflex-based, brain actions. They also enable a significant reduction in energy consumption. However, the training of SNNs is a challenging problem, strongly limiting their deployment. We then briefly overview new insights provided by the concept of a high-dimensional brain, which has been put forward to explain the potential power of single neurons in higher brain stations and deep SNN layers. Finally, we discuss the prospect of implementing neural networks in memristive systems. Such systems can densely pack on a chip 2D or 3D arrays of plastic synaptic contacts directly processing analog information. Thus, memristive devices are a good candidate for implementing in-memory and in-sensor computing. Then, memristive SNNs can diverge from the development of ANNs and build their niche, cognitive, or reflective computations.

Bioinspired Propulsion System for a Thunniform Robotic Fish.

The paper describes a bioinspired propulsion system for a robotic fish model. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to a servomotor by two symmetric movable thrusts simulating muscle contractions. The propulsion system provides the oscillatory tail movement with controllable amplitude and frequency. Tail oscillations translate into the movement of the robotic fish implementing the thunniform principle of locomotion. The shape of the body and the tail fin of the robotic fish were designed using a computational model simulating a virtual body in an aquatic medium. A prototype of a robotic fish was constructed and tested in experimental conditions. Dependencies of fish velocity on the dynamic characteristics of tail oscillations were analyzed. In particular, it was found that the robot's speed increased as the frequency of tail fin oscillations grew. We also found that for fixed frequencies, an increase in the oscillation amplitude lead to an increase in the swimming speed only up to a certain threshold. Further growth of the oscillation amplitude lead to a weak increase in speed at higher energy costs.

Spatial Properties of STDP in a Self-Learning Spiking Neural Network Enable Controlling a Mobile Robot.

Development of spiking neural networks (SNNs) controlling mobile robots is one of the modern challenges in computational neuroscience and artificial intelligence. Such networks, being replicas of biological ones, are expected to have a higher computational potential than traditional artificial neural networks (ANNs). The critical problem is in the design of robust learning algorithms aimed at building a "living computer" based on SNNs. Here, we propose a simple SNN equipped with a Hebbian rule in the form of spike-timing-dependent plasticity (STDP). The SNN implements associative learning by exploiting the spatial properties of STDP. We show that a LEGO robot controlled by the SNN can exhibit classical and operant conditioning. Competition of spike-conducting pathways in the SNN plays a fundamental role in establishing associations of neural connections. It replaces the irrelevant associations by new ones in response to a change in stimuli. Thus, the robot gets the ability to relearn when the environment changes. The proposed SNN and the stimulation protocol can be further enhanced and tested in developing neuronal cultures, and also admit the use of memristive devices for hardware implementation.