Deep Reinforcement Learning With Population-coded Spiking Neural Network For Continuous Control

Abstract

The energy-efficient control of mobile robots is crucial as the complexity of their real-world applications increasingly involves high-dimensional observation and action spaces, which cannot be offset by limited on-board resources. An emerging non-Von Neumann model of intelligence, where spiking neural networks (SNNs) are run on neuromorphic processors, is regarded as an energy-efficient and robust alternative to the state-of-the-art real-time robotic controllers for low dimensional control tasks. The challenge now for this new computing paradigm is to scale so that it can keep up with real-world tasks. To do so, SNNs need to overcome the inherent limitations of their training, namely the limited ability of their spiking neurons to represent information and the lack of effective learning algorithms. Here, we propose a population-coded spiking actor network (PopSAN) trained in conjunction with a deep critic network using deep reinforcement learning (DRL). The population coding scheme dr

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• arxiv keytang2020deep

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