Spiking Neural Networks (SNNs) are an emerging domain of biologically inspired neural networks that have shown promise for low-power AI. A number of methods exist for building deep SNNs, with Artificial Neural Network (ANN)-to-SNN conversion being highly successful. MaxPooling layers in Convolutional Neural Networks (CNNs) are an integral component to downsample the intermediate feature maps and introduce translational invariance, but the absence of their hardware-friendly spiking equivalents limits such CNNs' conversion to deep SNNs. In this paper, we present two hardware-friendly methods to implement Max-Pooling in deep SNNs, thus facilitating easy conversion of CNNs with MaxPooling layers to SNNs. In a first, we also execute SNNs with spiking-MaxPooling layers on Intel's Loihi neuromorphic hardware (with MNIST, FMNIST, & CIFAR10 dataset); thus, showing the feasibility of our approach.
Spiking Neural Networks (SNNs) have been attached great importance due to their biological plausibility and high energy-efficiency on neuromorphic chips. As these chips are usually resource-constrained, the compression of SNNs is thus crucial along the road of practical use of SNNs. Most existing methods directly apply pruning approaches in artificial neural networks (ANNs) to SNNs, which ignore the difference between ANNs and SNNs, thus limiting the performance of the pruned SNNs. Besides, these methods are only suitable for shallow SNNs. In this paper, inspired by synaptogenesis and synapse …
Biologically inspired spiking neural networks (SNNs) are widely used to realize ultralow-power energy consumption. However, deep SNNs are not easy to train due to the excessive firing of spiking neurons in the hidden layers. To tackle this problem, we propose a novel but simple normalization technique called postsynaptic potential normalization. This normalization removes the subtraction term from the standard normalization and uses the second raw moment instead of the variance as the division term. The spike firing can be controlled, enabling the training to proceed appropriating, by conducti…
Recent advances in event-based neuromorphic systems have resulted in significant interest in the use and development of spiking neural networks (SNNs). However, the non-differentiable nature of spiking neurons makes SNNs incompatible with conventional backpropagation techniques. In spite of the significant progress made in training conventional deep neural networks (DNNs), training methods for SNNs still remain relatively poorly understood. In this paper, we present a novel framework for training recurrent SNNs. Analogous to the benefits presented by recurrent neural networks (RNNs) in learnin…
Seoul National University（首尔大学）；Institute of New Media and Communications, Seoul National University（首尔大学新媒体与通信研究所）；ASRI and Interdisciplinary Program in Artificial Intelligence, Seoul National University（首尔大学自动系统研究所及人工智能跨学科项目）
Spiking neural networks (SNNs) have emerged as energy-efficient neural networks with temporal information. SNNs have shown a superior efficiency on neuromorphic devices, but the devices are susceptible to noise, which hinders them from being applied in real-world applications. Several studies have increased noise robustness, but most of them considered neither deep SNNs nor temporal information. In this paper, we investigate the effect of noise on deep SNNs with various neural coding methods and present a noise-robust deep SNN with temporal information. With the proposed methods, we have achie…
Spiking Neural Networks (SNNs) are biologically inspired machine learning models that build on dynamic neuronal models processing binary and sparse spiking signals in an event-driven, online, fashion. SNNs can be implemented on neuromorphic computing platforms that are emerging as energy-efficient co-processors for learning and inference. This is the first of a series of three papers that introduce SNNs to an audience of engineers by focusing on models, algorithms, and applications. In this first paper, we first cover neural models used for conventional Artificial Neural Networks (ANNs) and SN…
Brain-Inspired Efficient Pruning: Exploiting Criticality in Spiking Neural Networks
Institute of Computing Technology, Chinese Academy of Science（中国科学院计算技术研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Zhongguancun Laboratory（中关村实验室）；Sensetime Research（商汤科技研究院）
Univ. Polytechnique Hauts-de-France（上法兰西理工大学）；Belmihoub Abd El Rahmane High School（贝勒米胡布·阿卜杜勒·拉赫曼高中）；Ecole Nationale Supérieure d’Informatique（国家高等计算机学院）；Forschungszentrum Jülich（于利希研究中心）
Spiking neural networks (SNNs) have gained attention as a promising alternative to traditional artificial neural networks (ANNs) due to their potential for energy efficiency and their ability to model spiking behavior in biological systems. However, the training of SNNs is still a challenging problem, and new techniques are needed to improve their performance. In this paper, we study the impact of skip connections on SNNs and propose a hyperparameter optimization technique that adapts models from ANN to SNN. We demonstrate that optimizing the position, type, and number of skip connections can …
Samsung Advanced Institute of Technology（三星先进技术研究院）；Seoul National University（首尔国立大学）；Korea Institute of Science and Technology（韩国科学技术研究院）
Spiking neural networks (SNNs) that mimic information transmission in the brain can energy-efficiently process spatio-temporal information through discrete and sparse spikes, thereby receiving considerable attention. To improve accuracy and energy efficiency of SNNs, most previous studies have focused solely on training methods, and the effect of architecture has rarely been studied. We investigate the design choices used in the previous studies in terms of the accuracy and number of spikes and figure out that they are not best-suited for SNNs. To further improve the accuracy and reduce the sp…
Research Center for Brain-inspired Intelligence, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所类脑智能研究中心）；School of Future Technology, University of Chinese Academy of Sciences（中国科学院大学未来技术学院）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所模式识别国家重点实验室）；Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences（中国科学院脑科学与智能技术卓越创新中心）
Brain inspired spiking neural networks (SNNs) have been successfully applied to many pattern recognition domains. The SNNs based deep structure have achieved considerable results in perceptual tasks, such as image classification, target detection. However, the application of deep SNNs in reinforcement learning (RL) tasks is still a problem to be explored. Although there have been previous studies on the combination of SNNs and RL, most of them focus on robotic control problems with shallow networks or using ANN-SNN conversion method to implement spiking deep Q Network (SDQN). In this work, we …
Spiking neural networks (SNNs) are different from the classical networks used in deep learning: the neurons communicate using electrical impulses called spikes, just like biological neurons. SNNs are appealing for AI technology, because they could be implemented on low power neuromorphic chips. However, SNNs generally remain less accurate than their analog counterparts. In this report, we examine various regularization and normalization techniques with the goal of improving surrogate gradient learning in SNNs.
University of California, Santa Barbara（加州大学圣巴巴拉分校）；Drexel University（德雷塞尔大学）；Institute of Computing Technology, CAS（中国科学院计算技术研究所）；Tsinghua University（清华大学）
As spiking neural networks (SNNs) are deployed increasingly in real-world efficiency critical applications, the security concerns in SNNs attract more attention. Currently, researchers have already demonstrated an SNN can be attacked with adversarial examples. How to build a robust SNN becomes an urgent issue. Recently, many studies apply certified training in artificial neural networks (ANNs), which can improve the robustness of an NN model promisely. However, existing certifications cannot transfer to SNNs directly because of the distinct neuron behavior and input formats for SNNs. In this w…
As neural networks get widespread adoption in resource-constrained embedded devices, there is a growing need for low-power neural systems. Spiking Neural Networks (SNNs)are emerging to be an energy-efficient alternative to the traditional Artificial Neural Networks (ANNs) which are known to be computationally intensive. From an application perspective, as federated learning involves multiple energy-constrained devices, there is a huge scope to leverage energy efficiency provided by SNNs. Despite its importance, there has been little attention on training SNNs on a large-scale distributed syste…
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）
In recent years, spiking neural networks (SNNs) have received extensive attention in brain-inspired intelligence due to their rich spatially-temporal dynamics, various encoding methods, and event-driven characteristics that naturally fit the neuromorphic hardware. With the development of SNNs, brain-inspired intelligence, an emerging research field inspired by brain science achievements and aiming at artificial general intelligence, is becoming hot. This paper reviews recent advances and discusses new frontiers in SNNs from five major research topics, including essential elements (i.e., spikin…
Spiking neural networks (SNNs) have great potential for energy-efficient implementation of Deep Neural Networks (DNNs) on dedicated neuromorphic hardware. Recent studies demonstrated competitive performance of SNNs compared with DNNs on image classification tasks, including CIFAR-10 and ImageNet data. The present work focuses on using SNNs in combination with deep reinforcement learning in ATARI games, which involves additional complexity as compared to image classification. We review the theory of converting DNNs to SNNs and extending the conversion to Deep Q-Networks (DQNs). We propose a rob…
Center for Brain-Inspired Computing Research (CBICR)（类脑计算研究中心）；Tsinghua University（清华大学）
Biological spiking neurons with intrinsic dynamics underlie the powerful representation and learning capabilities of the brain for processing multimodal information in complex environments. Despite recent tremendous progress in spiking neural networks (SNNs) for handling Euclidean-space tasks, it still remains challenging to exploit SNNs in processing non-Euclidean-space data represented by graph data, mainly due to the lack of effective modeling framework and useful training techniques. Here we present a general spike-based modeling framework that enables the direct training of SNNs for graph…
University of Massachusetts Amherst（马萨诸塞大学阿默斯特分校）；University of Memphis（孟菲斯大学）
Spiking neural networks (SNNs) with a lattice architecture are introduced in this work, combining several desirable properties of SNNs and self-organized maps (SOMs). Networks are trained with biologically motivated, unsupervised learning rules to obtain a self-organized grid of filters via cooperative and competitive excitatory-inhibitory interactions. Several inhibition strategies are developed and tested, such as (i) incrementally increasing inhibition level over the course of network training, and (ii) switching the inhibition level from low to high (two-level) after an initial training se…
University of Massachusetts Amherst, College of Computer and Information Sciences（马萨诸塞大学阿默斯特分校计算机与信息科学学院）；University of Memphis（孟菲斯大学）
In recent years, Spiking Neural Networks (SNNs) have demonstrated great successes in completing various Machine Learning tasks. We introduce a method for learning image features by \textit{locally connected layers} in SNNs using spike-timing-dependent plasticity (STDP) rule. In our approach, sub-networks compete via competitive inhibitory interactions to learn features from different locations of the input space. These \textit{Locally-Connected SNNs} (LC-SNNs) manifest key topological features of the spatial interaction of biological neurons. We explore biologically inspired n-gram classificat…
Spiking neural networks (SNNs) are brain-inspired machine learning algorithms with merits such as biological plausibility and unsupervised learning capability. Previous works have shown that converting Artificial Neural Networks (ANNs) into SNNs is a practical and efficient approach for implementing an SNN. However, the basic principle and theoretical groundwork are lacking for training a non-accuracy-loss SNN. This paper establishes a precise mathematical mapping between the biological parameters of the Linear Leaky-Integrate-and-Fire model (LIF)/SNNs and the parameters of ReLU-AN/Deep Neural…
Xi’an Jiaotong University（西安交通大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Peking University Health Science Center, Peking University（北京大学医学部）；Huawei Technologies Co Ltd.（华为技术有限公司）；Peng Cheng Laboratory（鹏城实验室）
Spiking Neural Networks (SNNs) have recently attracted significant research interest as the third generation of artificial neural networks that can enable low-power event-driven data analytics. The best performing SNNs for image recognition tasks are obtained by converting a trained Analog Neural Network (ANN), consisting of Rectified Linear Units (ReLU), to SNN composed of integrate-and-fire neurons with "proper" firing thresholds. The converted SNNs typically incur loss in accuracy compared to that provided by the original ANN and require sizable number of inference time-steps to achieve the…
CWI（CWI研究所）；Stichting IMEC Netherlands, Holst Centre（荷兰IMEC基金会荷尔斯特中心）；Univ of Amsterdam（阿姆斯特丹大学）；Rijksuniversiteit Groningen（格罗宁根大学）
Inspired by more detailed modeling of biological neurons, Spiking neural networks (SNNs) have been investigated both as more biologically plausible and potentially more powerful models of neural computation, and also with the aim of extracting biological neurons' energy efficiency; the performance of such networks however has remained lacking compared to classical artificial neural networks (ANNs). Here, we demonstrate how a novel surrogate gradient combined with recurrent networks of tunable and adaptive spiking neurons yields state-of-the-art for SNNs on challenging benchmarks in the time-do…
Understanding the Functional Roles of Modelling Components in Spiking Neural Networks
Tsinghua University（清华大学）；Weiyang College, Tsinghua University（清华大学未央书院）；College of Electronic Information and Automation, Tianjin University of Science and Technology（天津科技大学电子信息与自动化学院）；Guangdong Institute of Intelligence Science and Technology（广东省智能科学与技术研究院）
School of Computer；Communication Sciences Ecole Polytechnique F\' e d\' e rale de Lausanne (EPFL)
While Spiking Neural Networks (SNNs) have been gaining in popularity, it seems that the algorithms used to train them are not powerful enough to solve the same tasks as those tackled by classical Artificial Neural Networks (ANNs). In this paper, we provide an extra tool to help us understand and train SNNs by using theory from the field of time encoding. Time encoding machines (TEMs) can be used to model integrate-and-fire neurons and have well-understood reconstruction properties. We will see how one can take inspiration from the field of TEMs to interpret the spike times of SNNs as constrain…
ESL-SNNs: An Evolutionary Structure Learning Strategy for Spiking Neural Networks
The College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院）；School of Artificial Intelligence, Dalian University of Technology（大连理工大学人工智能学院）；School of Computing, University of Leeds（利兹大学计算学院）；Research Institute of Intelligent Computing, Zhejiang Lab（之江实验室智能计算研究院）
Spiking neural networks (SNNs) that enables energy efficient implementation on emerging neuromorphic hardware are gaining more attention. Yet now, SNNs have not shown competitive performance compared with artificial neural networks (ANNs), due to the lack of effective learning algorithms and efficient programming frameworks. We address this issue from two aspects: (1) We propose a neuron normalization technique to adjust the neural selectivity and develop a direct learning algorithm for deep SNNs. (2) Via narrowing the rate coding window and converting the leaky integrate-and-fire (LIF) model …
FSTA-SNN:Frequency-based Spatial-Temporal Attention Module for Spiking Neural Networks
Zhejiang University-University of Illinois Urbana Champaign Institute（浙江大学-伊利诺伊大学厄巴纳-香槟分校研究院）；The College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院）；School of Computer Science and Technology, Dalian University of Technology（大连理工大学计算机科学与技术学院）
Spiking Neural Networks (SNNs) are biologically inspired alternatives to conventional Artificial Neural Networks (ANNs). Despite promising preliminary results, the trade-offs in the training of SNNs in a distributed scheme are not well understood. Here, we consider SNNs in a federated learning setting where a high-quality global model is created by aggregating multiple local models from the clients without sharing any data. We investigate federated learning for training multiple SNNs at clients when two mechanisms reduce the uplink communication cost: i) random masking of the model updates sen…
Networks of spiking neurons and Winner-Take-All spiking circuits (WTA-SNNs) can detect information encoded in spatio-temporal multi-valued events. These are described by the timing of events of interest, e.g., clicks, as well as by categorical numerical values assigned to each event, e.g., like or dislike. Other use cases include object recognition from data collected by neuromorphic cameras, which produce, for each pixel, signed bits at the times of sufficiently large brightness variations. Existing schemes for training WTA-SNNs are limited to rate-encoding solutions, and are hence able to de…
Spiking Neural Networks (SNNs) have recently emerged as an alternative to deep learning owing to sparse, asynchronous and binary event (or spike) driven processing, that can yield huge energy efficiency benefits on neuromorphic hardware. However, training high-accuracy and low-latency SNNs from scratch suffers from non-differentiable nature of a spiking neuron. To address this training issue in SNNs, we revisit batch normalization and propose a temporal Batch Normalization Through Time (BNTT) technique. Most prior SNN works till now have disregarded batch normalization deeming it ineffective f…
University of California, Santa Barbara（加利福尼亚大学圣巴巴拉分校）
As an important class of spiking neural networks (SNNs), recurrent spiking neural networks (RSNNs) possess great computational power and have been widely used for processing sequential data like audio and text. However, most RSNNs suffer from two problems. 1. Due to a lack of architectural guidance, random recurrent connectivity is often adopted, which does not guarantee good performance. 2. Training of RSNNs is in general challenging, bottlenecking achievable model accuracy. To address these problems, we propose a new type of RSNNs called Skip-Connected Self-Recurrent SNNs (ScSr-SNNs). Recurr…
Indian Institute of Technology Bombay（印度理工学院孟买分校）；New Jersey Institute of Technology（新泽西理工学院）
Spiking neural networks (SNNs) have garnered a great amount of interest for supervised and unsupervised learning applications. This paper deals with the problem of training multi-layer feedforward SNNs. The non-linear integrate-and-fire dynamics employed by spiking neurons make it difficult to train SNNs to generate desired spike trains in response to a given input. To tackle this, first the problem of training a multi-layer SNN is formulated as an optimization problem such that its objective function is based on the deviation in membrane potential rather than the spike arrival instants. Then,…
Deep Spiking Neural Networks (SNNs) present optimization difficulties for gradient-based approaches due to discrete binary activation and complex spatial-temporal dynamics. Considering the huge success of ResNet in deep learning, it would be natural to train deep SNNs with residual learning. Previous Spiking ResNet mimics the standard residual block in ANNs and simply replaces ReLU activation layers with spiking neurons, which suffers the degradation problem and can hardly implement residual learning. In this paper, we propose the spike-element-wise (SEW) ResNet to realize residual learning in…
University of Louisiana at Lafayette（路易斯安那大学拉斐特分校）；Monash University（莫纳什大学）；Kharazmi University（哈拉齐米大学）；CNRS-Université de Toulouse 3（法国国家科学研究中心-图卢兹第三大学）
In recent years, deep learning has been a revolution in the field of machine learning, for computer vision in particular. In this approach, a deep (multilayer) artificial neural network (ANN) is trained in a supervised manner using backpropagation. Huge amounts of labeled examples are required, but the resulting classification accuracy is truly impressive, sometimes outperforming humans. Neurons in an ANN are characterized by a single, static, continuous-valued activation. Yet biological neurons use discrete spikes to compute and transmit information, and the spike times, in addition to the sp…
Spiking neural networks (SNNs) with leaky integrate and fire (LIF) neurons, can be operated in an event-driven manner and have internal states to retain information over time, providing opportunities for energy-efficient neuromorphic computing, especially on edge devices. Note, however, many representative works on SNNs do not fully demonstrate the usefulness of their inherent recurrence (membrane potentials retaining information about the past) for sequential learning. Most of the works train SNNs to recognize static images by artificially expanded input representation in time through rate co…
Spiking neural networks (SNNs) in neuromorphic systems are more energy efficient compared to deep learning-based methods, but there is no clear competitive learning algorithm for training such SNNs. Eligibility propagation (e-prop) offers an efficient and biologically plausible way to train competitive recurrent SNNs in low-power neuromorphic hardware. In this report, previous performance of e-prop on a speech classification task is reproduced, and the effects of including STDP-like behavior are analyzed. Including STDP to the ALIF neuron model improves the classification performance, but this…
Spiking Neural Networks (SNNs) have recently emerged as the low-power alternative to Artificial Neural Networks (ANNs) owing to their asynchronous, sparse, and binary information processing. To improve the energy-efficiency and throughput, SNNs can be implemented on memristive crossbars where Multiply-and-Accumulate (MAC) operations are realized in the analog domain using emerging Non-Volatile-Memory (NVM) devices. Despite the compatibility of SNNs with memristive crossbars, there is little attention to study on the effect of intrinsic crossbar non-idealities and stochasticity on the performan…
This paper is concerned about a learning algorithm for a probabilistic model of spiking neural networks (SNNs). Jimenez Rezende & Gerstner (2014) proposed a stochastic variational inference algorithm to train SNNs with hidden neurons. The algorithm updates the variational distribution using the score function gradient estimator, whose high variance often impedes the whole learning algorithm. This paper presents an alternative gradient estimator for SNNs based on the path-wise gradient estimator. The main technical difficulty is a lack of a general method to differentiate a realization of an ar…
Spiking Neural Network (SNN), as a brain-inspired approach, is attracting attention due to its potential to produce ultra-high-energy-efficient hardware. Competitive learning based on Spike-Timing-Dependent Plasticity (STDP) is a popular method to train an unsupervised SNN. However, previous unsupervised SNNs trained through this method are limited to a shallow network with only one learnable layer and cannot achieve satisfactory results when compared with multi-layer SNNs. In this paper, we eased this limitation by: 1)We proposed a Spiking Inception (Sp-Inception) module, inspired by the Ince…
As the scales of neural networks increase, techniques that enable them to run with low computational cost and energy efficiency are required. From such demands, various efficient neural network paradigms, such as spiking neural networks (SNNs) or binary neural networks (BNNs), have been proposed. However, they have sticky drawbacks, such as degraded inference accuracy and latency. To solve these problems, we propose a single-step spiking neural network (S$^3$NN), an energy-efficient neural network with low computational cost and high precision. The proposed S$^3$NN processes the information be…
Inspired by the operation of biological brains, Spiking Neural Networks (SNNs) have the unique ability to detect information encoded in spatio-temporal patterns of spiking signals. Examples of data types requiring spatio-temporal processing include logs of time stamps, e.g., of tweets, and outputs of neural prostheses and neuromorphic sensors. In this paper, the second of a series of three review papers on SNNs, we first review models and training algorithms for the dominant approach that considers SNNs as a Recurrent Neural Network (RNN) and adapt learning rules based on backpropagation throu…
School of Electrical and Computer Engineering（电气与计算机工程学院）；Purdue University（普渡大学）
Spiking Neural Networks (SNNs) are energy efficient alternatives to commonly used deep neural networks (DNNs). Through event-driven information processing, SNNs can reduce the expensive compute requirements of DNNs considerably, while achieving comparable performance. However, high inference latency is a significant hindrance to the edge deployment of deep SNNs. Computation over multiple timesteps not only increases latency as well as overall energy budget due to higher number of operations, but also incurs memory access overhead of fetching membrane potentials, both of which lessen the energy…
