title: Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS.
abstract: 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.
authors.affiliation: Institute for Advanced Simulation, Theoretical Neuroscience and Institute of Neuroscience and Medicine, Computational and Systems Neuroscience and Jülich Aachen Research Alliance BRAIN Institute I, Jülich Research Center and Jülich Aachen Research Alliance Jülich, Germany.
authors.forename: Philipp
authors.initials: P
authors.lastname: Weidel
authors.affiliation: Institute for Advanced Simulation, Theoretical Neuroscience and Institute of Neuroscience and Medicine, Computational and Systems Neuroscience and Jülich Aachen Research Alliance BRAIN Institute I, Jülich Research Center and Jülich Aachen Research AllianceJülich, Germany; PDC Center for High Performance Computing, KTH Royal Institute of TechnologyStockholm, Sweden.
authors.forename: Mikael
authors.initials: M
authors.lastname: Djurfeldt
authors.affiliation: Institute for Advanced Simulation, Theoretical Neuroscience and Institute of Neuroscience and Medicine, Computational and Systems Neuroscience and Jülich Aachen Research Alliance BRAIN Institute I, Jülich Research Center and Jülich Aachen Research AllianceJülich, Germany; Faculty of Biology, Albert-Ludwig University of FreiburgFreiburg im Breisgau, Germany; Bernstein Center Freiburg, Albert-Ludwig University of FreiburgFreiburg im Breisgau, Germany.
authors.forename: Renato C
authors.initials: RC
authors.lastname: Duarte
authors.affiliation: Institute for Advanced Simulation, Theoretical Neuroscience and Institute of Neuroscience and Medicine, Computational and Systems Neuroscience and Jülich Aachen Research Alliance BRAIN Institute I, Jülich Research Center and Jülich Aachen Research AllianceJülich, Germany; Bernstein Center Freiburg, Albert-Ludwig University of FreiburgFreiburg im Breisgau, Germany; Simulation Laboratory Neuroscience - Bernstein Facility for Simulation and Database Technology, Institute for Advanced Simulation, Jülich Aachen Research Alliance, Jülich Research CenterJülich, Germany; Faculty of Psychology, Institute of Cognitive Neuroscience, Ruhr-University BochumBochum, Germany.
authors.forename: Abigail
authors.initials: A
authors.lastname: Morrison
keywords: closed-loop; neural network simulations; neurorobotics; real-time; robotic simulations