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Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS

In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both reproducible and amenable to experimental manipulations is technica...

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Autores principales: Weidel, Philipp, Djurfeldt, Mikael, Duarte, Renato C., Morrison, Abigail
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2016
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4971076/
https://www.ncbi.nlm.nih.gov/pubmed/27536234
http://dx.doi.org/10.3389/fninf.2016.00031
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author Weidel, Philipp
Djurfeldt, Mikael
Duarte, Renato C.
Morrison, Abigail
author_facet Weidel, Philipp
Djurfeldt, Mikael
Duarte, Renato C.
Morrison, Abigail
author_sort Weidel, Philipp
collection PubMed
description In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both reproducible and amenable to experimental manipulations is technically challenging, and even more so if a closed-loop scenario is required. In this work, we present a novel approach to solve this problem, connecting robotics and neural network simulators. We implement a middleware solution that bridges the Robotic Operating System (ROS) to the Multi-Simulator Coordinator (MUSIC). This enables any robotic and neural simulators that implement the corresponding interfaces to be efficiently coupled, allowing real-time performance for a wide range of configurations. This work extends the toolset available for researchers in both neurorobotics and computational neuroscience, and creates the opportunity to perform closed-loop experiments of arbitrary complexity to address questions in multiple areas, including embodiment, agency, and reinforcement learning.
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spelling pubmed-49710762016-08-17 Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS Weidel, Philipp Djurfeldt, Mikael Duarte, Renato C. Morrison, Abigail Front Neuroinform Neuroscience In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both reproducible and amenable to experimental manipulations is technically challenging, and even more so if a closed-loop scenario is required. In this work, we present a novel approach to solve this problem, connecting robotics and neural network simulators. We implement a middleware solution that bridges the Robotic Operating System (ROS) to the Multi-Simulator Coordinator (MUSIC). This enables any robotic and neural simulators that implement the corresponding interfaces to be efficiently coupled, allowing real-time performance for a wide range of configurations. This work extends the toolset available for researchers in both neurorobotics and computational neuroscience, and creates the opportunity to perform closed-loop experiments of arbitrary complexity to address questions in multiple areas, including embodiment, agency, and reinforcement learning. Frontiers Media S.A. 2016-08-03 /pmc/articles/PMC4971076/ /pubmed/27536234 http://dx.doi.org/10.3389/fninf.2016.00031 Text en Copyright © 2016 Weidel, Djurfeldt, Duarte and Morrison. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Neuroscience
Weidel, Philipp
Djurfeldt, Mikael
Duarte, Renato C.
Morrison, Abigail
Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS
title Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS
title_full Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS
title_fullStr Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS
title_full_unstemmed Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS
title_short Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS
title_sort closed loop interactions between spiking neural network and robotic simulators based on music and ros
topic Neuroscience
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4971076/
https://www.ncbi.nlm.nih.gov/pubmed/27536234
http://dx.doi.org/10.3389/fninf.2016.00031
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