Findings show the impact of inference stage design decisions in STDP-based SNN-VPR on recall precision, although the separate contribution of each mechanism and implementation differences is only partially disentangled and needs further examination.
Abstract
Spiking Neural Networks (SNNs) trained through unsupervised Spike-Timing-Dependent Plasticity (STDP) have been explored as solutions to visual loop closure problems, driven by the prospect of efficient on-device inference on neuromorphic devices. State-of-the-art STDP-based models deliver high classification accuracy but fail to reach the high Recall at 100% Precision (R@100P) needed for reliable autonomous navigation. We present a discrete, tensor-native implementation of the STDP-based SNN-VPR pipeline using PyTorch with snnTorch and evaluate it on a 100-place Nordland dataset using 15 independently-trained networks. The contribution of three decisions in the implementation is investigated. First, we show how to perform neuron assignment with a closed-form, deterministic tensor pipeline and show that it provides significantly higher R@100P than a standard argmax procedure. However, some of this gain comes from implementation differences compared to prior continuous-time models, which we measure independently. Second, ablation in isolation shows that state reset after each query helps improve R@100P regardless of the way neurons are assigned. Third, velocity-compensated sliding window aggregation over k consecutive frames reaches R@100P = 100.00% at k = 5 for constant-velocity traversal and an additional 0.20 ms latency. Taken together, these findings show the impact of inference stage design decisions in STDP-based SNN-VPR on recall precision, although the separate contribution of each mechanism and implementation differences is only partially disentangled and needs further examination.
This work proposes a noisy group neuron (NGN) model, which incorporates population-level synchronous resetting and neural stochasticity as fundamental computational mechanisms, and develops the NGN method as a framework that combines the NGN model with backpropagation learning based on mean-field dynamics.
Yajie Zhai, Yanmei Kang, Meng Li et al.· 0 citations
This work presents a Hebbian local learning rule that models synaptic modification as a function of calcium traces tracking neuronal activity and demonstrates how spike timing and rate can be complementary in their role of shaping the connectivity of spiking neural networks.
Willian Soares Girāo, Nicoletta Risi, Caroline Geisler et al.· Neuromorphic Computing and E...· 0 citations
It is proved that two canonical local synaptic learning rules, the potentiation arm of spike-timing-dependent plasticity and homeostatic plasticity and homeostatic plasticity together can implement the exact gradient of a SIGReg-like self-supervised learning objective.
It is aimed at proving that SNNs have potential in such areas as computer vision, robotics, and speech recognition, and their role in overcoming the barrier between artificial and biological neural systems is proved.
Mesala Sravani, K. Kumari, S. M. Reddy· International Journal of Unc...· 0 citations
Spiking neural networks offer a promising route toward low-power sequence computation on neuromorphic hardware, but they continue to lag behind attention-based artificial neural networks on long-context tasks. A central open question is whether this gap reflects only implementation and optimization limitations, or whether architectural features of spiking computation impose unfavorable learnability constraints as sequence length increases. Here, we address this question using a covering-number analysis of feedforward non-leaky integrate-and-fire (nLIF) networks in the probably approximately correct framework. Building on causal-piece decompositions and local Lipschitz continuity, we derive a global sensitivity bound for feedforward nLIF networks and extend it from single-token inputs to multi-token spike sequences. For fixed architectures under stated boundedness and margin assumptions, the resulting sufficient worst-case sample requirement has leading quadratic dependence on sequence length. This dependence arises from cumulative causal participation across time and depth, which increases global sensitivity along active spike paths. We then test the mechanistic implications of this theory using finite-sample cue-recall and teacher–student benchmarks across spiking, recurrent, and attention-based model classes. In cue-recall, an early cue must be retained across distractors and reported at a final query token; in teacher–student, labels are generated by a fixed nLIF teacher, separating representability from finite-sample learnability. Unconstrained feedforward spiking models show sequence-length sensitivity, elevated hidden spike-participation density, and increased samples-to-threshold burden. Post-spike refractoriness, leak-mediated forgetting, learned lateral inhibition, and activity-constrained winner-take-all competition reduce hidden participation and improve empirical robustness in task- and regime-dependent ways. Together, these results identify diffuse causal-set growth as a fundamental architectural bottleneck for baseline feedforward spiking sequence models and suggest that scalable neuromorphic sequence architectures will require circuit mechanisms that explicitly constrain temporal accumulation and effective spike participation.
William Fishell, Gordon Fishell, Suraj Honnuraiah· Neuromorphic Computing and E...· 0 citations
Extensive experiments on static and neuromorphic benchmarks show that lower-bit BASC models match or outperform higher-bit baselines and retain this accuracy advantage after structured pruning, while further reducing model storage and synaptic operations.
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