Spiking Optical Flow for Event-based Sensors Using IBM's TrueNorth Neurosynaptic System

This paper describes a fully spike-based neural network for optical flow estimation from Dynamic Vision Sensor data. A low power embedded implementation of the method which combines the Asynchronous Time-based Image Sensor with IBM's TrueNorth Neurosynaptic System is presented. The sensor generates spikes with sub-millisecond resolution in response to scene illumination changes. These spike are processed by a spiking neural network running on TrueNorth with a 1 millisecond resolution to accurately determine the order and time difference of spikes from neighboring pixels, and therefore infer the velocity. The spiking neural network is a variant of the Barlow Levick method for optical flow estimation. The system is evaluated on two recordings for which ground truth motion is available, and achieves an Average Endpoint Error of 11% at an estimated power budget of under 80mW for the sensor and computation.

Conversion of Artificial Recurrent Neural Networks to Spiking Neural Networks for Low-power Neuromorphic Hardware

In recent years the field of neuromorphic low-power systems that consume orders of magnitude less power gained significant momentum. However, their wider use is still hindered by the lack of algorithms that can harness the strengths of such architectures. While neuromorphic adaptations of representation learning algorithms are now emerging, efficient processing of temporal sequences or variable length-inputs remain difficult. Recurrent neural networks (RNN) are widely used in machine learning to solve a variety of sequence learning tasks. In this work we present a train-and-constrain methodology that enables the mapping of machine learned (Elman) RNNs on a substrate of spiking neurons, while being compatible with the capabilities of current and near-future neuromorphic systems. This "train-and-constrain" method consists of first training RNNs using backpropagation through time, then discretizing the weights and finally converting them to spiking RNNs by matching the responses of artificial neurons with those of the spiking neurons. We demonstrate our approach by mapping a natural language processing task (question classification), where we demonstrate the entire mapping process of the recurrent layer of the network on IBM's Neurosynaptic System "TrueNorth", a spike-based digital neuromorphic hardware architecture. TrueNorth imposes specific constraints on connectivity, neural and synaptic parameters. To satisfy these constraints, it was necessary to discretize the synaptic weights and neural activities to 16 levels, and to limit fan-in to 64 inputs. We find that short synaptic delays are sufficient to implement the dynamical (temporal) aspect of the RNN in the question classification task. The hardware-constrained model achieved 74% accuracy in question classification while using less than 0.025% of the cores on one TrueNorth chip, resulting in an estimated power consumption of ~17 uW.

TrueHappiness: Neuromorphic Emotion Recognition on TrueNorth

We present an approach to constructing a neuromorphic device that responds to language input by producing neuron spikes in proportion to the strength of the appropriate positive or negative emotional response. Specifically, we perform a fine-grained sentiment analysis task with implementations on two different systems: one using conventional spiking neural network (SNN) simulators and the other one using IBM's Neurosynaptic System TrueNorth. Input words are projected into a high-dimensional semantic space and processed through a fully-connected neural network (FCNN) containing rectified linear units trained via backpropagation. After training, this FCNN is converted to a SNN by substituting the ReLUs with integrate-and-fire neurons. We show that there is practically no performance loss due to conversion to a spiking network on a sentiment analysis test set, i.e. correlations between predictions and human annotations differ by less than 0.02 comparing the original DNN and its spiking equivalent. Additionally, we show that the SNN generated with this technique can be mapped to existing neuromorphic hardware -- in our case, the TrueNorth chip. Mapping to the chip involves 4-bit synaptic weight discretization and adjustment of the neuron thresholds. The resulting end-to-end system can take a user input, i.e. a word in a vocabulary of over 300,000 words, and estimate its sentiment on TrueNorth with a power consumption of approximately 50 uW.