Brain-inspired Action Generation with Spiking Transformer Diffusion Policy Model

Spiking Neural Networks (SNNs) has the ability to extract spatio-temporal features due to their spiking sequence. While previous research has primarily foucus on the classification of image and reinforcement learning. In our paper, we put forward novel diffusion policy model based on Spiking Transformer Neural Networks and Denoising Diffusion Probabilistic Model (DDPM): Spiking Transformer Modulate Diffusion Policy Model (STMDP), a new brain-inspired model for generating robot action trajectories. In order to improve the performance of this model, we develop a novel decoder module: Spiking Modulate De coder (SMD), which replaces the traditional Decoder module within the Transformer architecture. Additionally, we explored the substitution of DDPM with Denoising Diffusion Implicit Models (DDIM) in our frame work. We conducted experiments across four robotic manipulation tasks and performed ablation studies on the modulate block. Our model consistently outperforms existing Transformer-based diffusion policy method. Especially in Can task, we achieved an improvement of 8%. The proposed STMDP method integrates SNNs, dffusion model and Transformer architecture, which offers new perspectives and promising directions for exploration in brain-inspired robotics.

Building Altruistic and Moral AI Agent with Brain-inspired Affective Empathy Mechanisms

As AI closely interacts with human society, it is crucial to ensure that its decision-making is safe, altruistic, and aligned with human ethical and moral values. However, existing research on embedding ethical and moral considerations into AI remains insufficient, and previous external constraints based on principles and rules are inadequate to provide AI with long-term stability and generalization capabilities. In contrast, the intrinsic altruistic motivation based on empathy is more willing, spontaneous, and robust. Therefore, this paper is dedicated to autonomously driving intelligent agents to acquire morally behaviors through human-like affective empathy mechanisms. We draw inspiration from the neural mechanism of human brain's moral intuitive decision-making, and simulate the mirror neuron system to construct a brain-inspired affective empathy-driven altruistic decision-making model. Here, empathy directly impacts dopamine release to form intrinsic altruistic motivation. Based on the principle of moral utilitarianism, we design the moral reward function that integrates intrinsic empathy and extrinsic self-task goals. A comprehensive experimental scenario incorporating empathetic processes, personal objectives, and altruistic goals is developed. The proposed model enables the agent to make consistent moral decisions (prioritizing altruism) by balancing self-interest with the well-being of others. We further introduce inhibitory neurons to regulate different levels of empathy and verify the positive correlation between empathy levels and altruistic preferences, yielding conclusions consistent with findings from psychological behavioral experiments. This work provides a feasible solution for the development of ethical AI by leveraging the intrinsic human-like empathy mechanisms, and contributes to the harmonious coexistence between humans and AI.

Brain-inspired and Self-based Artificial Intelligence

The question "Can machines think?" and the Turing Test to assess whether machines could achieve human-level intelligence is one of the roots of AI. With the philosophical argument "I think, therefore I am", this paper challenge the idea of a "thinking machine" supported by current AIs since there is no sense of self in them. Current artificial intelligence is only seemingly intelligent information processing and does not truly understand or be subjectively aware of oneself and perceive the world with the self as human intelligence does. In this paper, we introduce a Brain-inspired and Self-based Artificial Intelligence (BriSe AI) paradigm. This BriSe AI paradigm is dedicated to coordinating various cognitive functions and learning strategies in a self-organized manner to build human-level AI models and robotic applications. Specifically, BriSe AI emphasizes the crucial role of the Self in shaping the future AI, rooted with a practical hierarchical Self framework, including Perception and Learning, Bodily Self, Autonomous Self, Social Self, and Conceptual Self. The hierarchical framework of the Self highlights self-based environment perception, self-bodily modeling, autonomous interaction with the environment, social interaction and collaboration with others, and even more abstract understanding of the Self. Furthermore, the positive mutual promotion and support among multiple levels of Self, as well as between Self and learning, enhance the BriSe AI's conscious understanding of information and flexible adaptation to complex environments, serving as a driving force propelling BriSe AI towards real Artificial General Intelligence.

Efficient Training Spiking Neural Networks with Parallel Spiking Unit

Efficient parallel computing has become a pivotal element in advancing artificial intelligence. Yet, the deployment of Spiking Neural Networks (SNNs) in this domain is hampered by their inherent sequential computational dependency. This constraint arises from the need for each time step's processing to rely on the preceding step's outcomes, significantly impeding the adaptability of SNN models to massively parallel computing environments. Addressing this challenge, our paper introduces the innovative Parallel Spiking Unit (PSU) and its two derivatives, the Input-aware PSU (IPSU) and Reset-aware PSU (RPSU). These variants skillfully decouple the leaky integration and firing mechanisms in spiking neurons while probabilistically managing the reset process. By preserving the fundamental computational attributes of the spiking neuron model, our approach enables the concurrent computation of all membrane potential instances within the SNN, facilitating parallel spike output generation and substantially enhancing computational efficiency. Comprehensive testing across various datasets, including static and sequential images, Dynamic Vision Sensor (DVS) data, and speech datasets, demonstrates that the PSU and its variants not only significantly boost performance and simulation speed but also augment the energy efficiency of SNNs through enhanced sparsity in neural activity. These advancements underscore the potential of our method in revolutionizing SNN deployment for high-performance parallel computing applications.

Multi-compartment Neuron and Population Encoding improved Spiking Neural Network for Deep Distributional Reinforcement Learning

Inspired by the information processing with binary spikes in the brain, the spiking neural networks (SNNs) exhibit significant low energy consumption and are more suitable for incorporating multi-scale biological characteristics. Spiking Neurons, as the basic information processing unit of SNNs, are often simplified in most SNNs which only consider LIF point neuron and do not take into account the multi-compartmental structural properties of biological neurons. This limits the computational and learning capabilities of SNNs. In this paper, we proposed a brain-inspired SNN-based deep distributional reinforcement learning algorithm with combination of bio-inspired multi-compartment neuron (MCN) model and population coding method. The proposed multi-compartment neuron built the structure and function of apical dendritic, basal dendritic, and somatic computing compartments to achieve the computational power close to that of biological neurons. Besides, we present an implicit fractional embedding method based on spiking neuron population encoding. We tested our model on Atari games, and the experiment results show that the performance of our model surpasses the vanilla ANN-based FQF model and ANN-SNN conversion method based Spiking-FQF models. The ablation experiments show that the proposed multi-compartment neural model and quantile fraction implicit population spike representation play an important role in realizing SNN-based deep distributional reinforcement learning.

BrainCog: A Spiking Neural Network based Brain-inspired Cognitive Intelligence Engine for Brain-inspired AI and Brain Simulation

Spiking neural networks (SNNs) have attracted extensive attentions in Brain-inspired Artificial Intelligence and computational neuroscience. They can be used to simulate biological information processing in the brain at multiple scales. More importantly, SNNs serve as an appropriate level of abstraction to bring inspirations from brain and cognition to Artificial Intelligence. In this paper, we present the Brain-inspired Cognitive Intelligence Engine (BrainCog) for creating brain-inspired AI and brain simulation models. BrainCog incorporates different types of spiking neuron models, learning rules, brain areas, etc., as essential modules provided by the platform. Based on these easy-to-use modules, BrainCog supports various brain-inspired cognitive functions, including Perception and Learning, Decision Making, Knowledge Representation and Reasoning, Motor Control, and Social Cognition. These brain-inspired AI models have been effectively validated on various supervised, unsupervised, and reinforcement learning tasks, and they can be used to enable AI models to be with multiple brain-inspired cognitive functions. For brain simulation, BrainCog realizes the function simulation of decision-making, working memory, the structure simulation of the Neural Circuit, and whole brain structure simulation of Mouse brain, Macaque brain, and Human brain. An AI engine named BORN is developed based on BrainCog, and it demonstrates how the components of BrainCog can be integrated and used to build AI models and applications. To enable the scientific quest to decode the nature of biological intelligence and create AI, BrainCog aims to provide essential and easy-to-use building blocks, and infrastructural support to develop brain-inspired spiking neural network based AI, and to simulate the cognitive brains at multiple scales. The online repository of BrainCog can be found at https://github.com/braincog-x.

Solving the Spike Feature Information Vanishing Problem in Spiking Deep Q Network with Potential Based Normalization

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 mathematically analyzed the problem of the disappearance of spiking signal features in SDQN and proposed a potential based layer normalization(pbLN) method to directly train spiking deep Q networks. Experiment shows that compared with state-of-art ANN-SNN conversion method and other SDQN works, the proposed pbLN spiking deep Q networks (PL-SDQN) achieved better performance on Atari game tasks.

Quantum Superposition Spiking Neural Network

Quantum brain as a novel hypothesis states that some non-trivial mechanisms in quantum computation, such as superposition and entanglement, may have important influence for the formation of brain functions. Inspired by this idea, we propose Quantum Superposition Spiking Neural Network (QS-SNN), which introduce quantum superposition to spiking neural network models to handel challenges which are hard for other state-of-the-art machine learning models. For human brain, grasping the main information no matter how the background changes is necessary to interact efficiently with diverse environments. As an example, it is easy for human to recognize the digits whether it is white character with black background or inversely black character with white background. While if the current machine learning models are trained with one of the cases (e.g. white character with black background), it will be nearly impossible for them to recognize the color inverted version. To handel this challenge, we propose two-compartment spiking neural network with superposition states encoding, which is inspired by quantum information theory and spatial-temporal spiking property from neuron information encoding in the brain. Typical network structures like fully-connected ANN, VGG, ResNet and DenseNet are challenged with the same task. We train these networks on original image dataset and then invert the background color to test their generalization. Result shows that artificial neural network can not deal with this condition while the quantum superposition spiking neural network(QS-SNN) which we proposed in this paper recognizes the color-inverse image successfully. Further the QS-SNN shows its robustness when noises are added on inputs.

Responsible Facial Recognition and Beyond

Facial recognition is changing the way we live in and interact with our society. Here we discuss the two sides of facial recognition, summarizing potential risks and current concerns. We introduce current policies and regulations in different countries. Very importantly, we point out that the risks and concerns are not only from facial recognition, but also realistically very similar to other biometric recognition technology, including but not limited to gait recognition, iris recognition, fingerprint recognition, voice recognition, etc. To create a responsible future, we discuss possible technological moves and efforts that should be made to keep facial recognition (and biometric recognition in general) developing for social good.