USP-Gaussian: Unifying Spike-based Image Reconstruction, Pose Correction and Gaussian Splatting

Spike cameras, as an innovative neuromorphic camera that captures scenes with the 0-1 bit stream at 40 kHz, are increasingly employed for the 3D reconstruction task via Neural Radiance Fields (NeRF) or 3D Gaussian Splatting (3DGS). Previous spike-based 3D reconstruction approaches often employ a casecased pipeline: starting with high-quality image reconstruction from spike streams based on established spike-to-image reconstruction algorithms, then progressing to camera pose estimation and 3D reconstruction. However, this cascaded approach suffers from substantial cumulative errors, where quality limitations of initial image reconstructions negatively impact pose estimation, ultimately degrading the fidelity of the 3D reconstruction. To address these issues, we propose a synergistic optimization framework, \textbf{USP-Gaussian}, that unifies spike-based image reconstruction, pose correction, and Gaussian splatting into an end-to-end framework. Leveraging the multi-view consistency afforded by 3DGS and the motion capture capability of the spike camera, our framework enables a joint iterative optimization that seamlessly integrates information between the spike-to-image network and 3DGS. Experiments on synthetic datasets with accurate poses demonstrate that our method surpasses previous approaches by effectively eliminating cascading errors. Moreover, we integrate pose optimization to achieve robust 3D reconstruction in real-world scenarios with inaccurate initial poses, outperforming alternative methods by effectively reducing noise and preserving fine texture details. Our code, data and trained models will be available at \url{https://github.com/chenkang455/USP-Gaussian}.

Comprehensive Online Training and Deployment for Spiking Neural Networks

Spiking Neural Networks (SNNs) are considered to have enormous potential in the future development of Artificial Intelligence (AI) due to their brain-inspired and energy-efficient properties. In the current supervised learning domain of SNNs, compared to vanilla Spatial-Temporal Back-propagation (STBP) training, online training can effectively overcome the risk of GPU memory explosion and has received widespread academic attention. However, the current proposed online training methods cannot tackle the inseparability problem of temporal dependent gradients and merely aim to optimize the training memory, resulting in no performance advantages compared to the STBP training models in the inference phase. To address the aforementioned challenges, we propose Efficient Multi-Precision Firing (EM-PF) model, which is a family of advanced spiking models based on floating-point spikes and binary synaptic weights. We point out that EM-PF model can effectively separate temporal gradients and achieve full-stage optimization towards computation speed and memory footprint. Experimental results have demonstrated that EM-PF model can be flexibly combined with various techniques including random back-propagation, parallel computation and channel attention mechanism, to achieve state-of-the-art performance with extremely low computational overhead in the field of online learning.

UP-Diff: Latent Diffusion Model for Remote Sensing Urban Prediction

This study introduces a novel Remote Sensing (RS) Urban Prediction (UP) task focused on future urban planning, which aims to forecast urban layouts by utilizing information from existing urban layouts and planned change maps. To address the proposed RS UP task, we propose UP-Diff, which leverages a Latent Diffusion Model (LDM) to capture positionaware embeddings of pre-change urban layouts and planned change maps. In specific, the trainable cross-attention layers within UP-Diff's iterative diffusion modules enable the model to dynamically highlight crucial regions for targeted modifications. By utilizing our UP-Diff, designers can effectively refine and adjust future urban city plans by making modifications to the change maps in a dynamic and adaptive manner. Compared with conventional RS Change Detection (CD) methods, the proposed UP-Diff for the RS UP task avoids the requirement of paired prechange and post-change images, which enhances the practical usage in city development. Experimental results on LEVIRCD and SYSU-CD datasets show UP-Diff's ability to accurately predict future urban layouts with high fidelity, demonstrating its potential for urban planning. Code and model weights will be available upon the acceptance of the work.

Enhancing Adversarial Robustness in SNNs with Sparse Gradients

Spiking Neural Networks (SNNs) have attracted great attention for their energy-efficient operations and biologically inspired structures, offering potential advantages over Artificial Neural Networks (ANNs) in terms of energy efficiency and interpretability. Nonetheless, similar to ANNs, the robustness of SNNs remains a challenge, especially when facing adversarial attacks. Existing techniques, whether adapted from ANNs or specifically designed for SNNs, exhibit limitations in training SNNs or defending against strong attacks. In this paper, we propose a novel approach to enhance the robustness of SNNs through gradient sparsity regularization. We observe that SNNs exhibit greater resilience to random perturbations compared to adversarial perturbations, even at larger scales. Motivated by this, we aim to narrow the gap between SNNs under adversarial and random perturbations, thereby improving their overall robustness. To achieve this, we theoretically prove that this performance gap is upper bounded by the gradient sparsity of the probability associated with the true label concerning the input image, laying the groundwork for a practical strategy to train robust SNNs by regularizing the gradient sparsity. We validate the effectiveness of our approach through extensive experiments on both image-based and event-based datasets. The results demonstrate notable improvements in the robustness of SNNs. Our work highlights the importance of gradient sparsity in SNNs and its role in enhancing robustness.

SpikingResformer: Bridging ResNet and Vision Transformer in Spiking Neural Networks

The remarkable success of Vision Transformers in Artificial Neural Networks (ANNs) has led to a growing interest in incorporating the self-attention mechanism and transformer-based architecture into Spiking Neural Networks (SNNs). While existing methods propose spiking self-attention mechanisms that are compatible with SNNs, they lack reasonable scaling methods, and the overall architectures proposed by these methods suffer from a bottleneck in effectively extracting local features. To address these challenges, we propose a novel spiking self-attention mechanism named Dual Spike Self-Attention (DSSA) with a reasonable scaling method. Based on DSSA, we propose a novel spiking Vision Transformer architecture called SpikingResformer, which combines the ResNet-based multi-stage architecture with our proposed DSSA to improve both performance and energy efficiency while reducing parameters. Experimental results show that SpikingResformer achieves higher accuracy with fewer parameters and lower energy consumption than other spiking Vision Transformer counterparts. Notably, our SpikingResformer-L achieves 79.40% top-1 accuracy on ImageNet with 4 time-steps, which is the state-of-the-art result in the SNN field.

LM-HT SNN: Enhancing the Performance of SNN to ANN Counterpart through Learnable Multi-hierarchical Threshold Model

Compared to traditional Artificial Neural Network (ANN), Spiking Neural Network (SNN) has garnered widespread academic interest for its intrinsic ability to transmit information in a more biological-inspired and energy-efficient manner. However, despite previous efforts to optimize the learning gradients and model structure of SNNs through various methods, SNNs still lag behind ANNs in terms of performance to some extent. The recently proposed multi-threshold model provides more possibilities for further enhancing the learning capability of SNNs. In this paper, we rigorously analyze the relationship among the multi-threshold model, vanilla spiking model and quantized ANNs from a mathematical perspective, then propose a novel LM-HT model, which is an equidistant multi-hierarchical model that can dynamically regulate the global input current and membrane potential leakage on the time dimension. In addition, we note that the direct training algorithm based on the LM-HT model can seamlessly integrate with the traditional ANN-SNN Conversion framework. This novel hybrid learning framework can effectively improve the relatively poor performance of converted SNNs under low time latency. Extensive experimental results have demonstrated that our LM-HT model can significantly outperform previous state-of-the-art works on various types of datasets, which promote SNNs to achieve a brand-new level of performance comparable to quantized ANNs.

Bridging the Gap between ANNs and SNNs by Calibrating Offset Spikes

Spiking Neural Networks (SNNs) have attracted great attention due to their distinctive characteristics of low power consumption and temporal information processing. ANN-SNN conversion, as the most commonly used training method for applying SNNs, can ensure that converted SNNs achieve comparable performance to ANNs on large-scale datasets. However, the performance degrades severely under low quantities of time-steps, which hampers the practical applications of SNNs to neuromorphic chips. In this paper, instead of evaluating different conversion errors and then eliminating these errors, we define an offset spike to measure the degree of deviation between actual and desired SNN firing rates. We perform a detailed analysis of offset spike and note that the firing of one additional (or one less) spike is the main cause of conversion errors. Based on this, we propose an optimization strategy based on shifting the initial membrane potential and we theoretically prove the corresponding optimal shifting distance for calibrating the spike. In addition, we also note that our method has a unique iterative property that enables further reduction of conversion errors. The experimental results show that our proposed method achieves state-of-the-art performance on CIFAR-10, CIFAR-100, and ImageNet datasets. For example, we reach a top-1 accuracy of 67.12% on ImageNet when using 6 time-steps. To the best of our knowledge, this is the first time an ANN-SNN conversion has been shown to simultaneously achieve high accuracy and ultralow latency on complex datasets. Code is available at https://github.com/hzc1208/ANN2SNN_COS.

Reducing ANN-SNN Conversion Error through Residual Membrane Potential

Spiking Neural Networks (SNNs) have received extensive academic attention due to the unique properties of low power consumption and high-speed computing on neuromorphic chips. Among various training methods of SNNs, ANN-SNN conversion has shown the equivalent level of performance as ANNs on large-scale datasets. However, unevenness error, which refers to the deviation caused by different temporal sequences of spike arrival on activation layers, has not been effectively resolved and seriously suffers the performance of SNNs under the condition of short time-steps. In this paper, we make a detailed analysis of unevenness error and divide it into four categories. We point out that the case of the ANN output being zero while the SNN output being larger than zero accounts for the largest percentage. Based on this, we theoretically prove the sufficient and necessary conditions of this case and propose an optimization strategy based on residual membrane potential to reduce unevenness error. The experimental results show that the proposed method achieves state-of-the-art performance on CIFAR-10, CIFAR-100, and ImageNet datasets. For example, we reach top-1 accuracy of 64.32\% on ImageNet with 10-steps. To the best of our knowledge, this is the first time ANN-SNN conversion can simultaneously achieve high accuracy and ultra-low-latency on the complex dataset. Code is available at https://github.com/hzc1208/ANN2SNN\_SRP.