def _basic_model():
model = Model()
block0 = LoihiBlock(1)
block0.compartment.configure_lif()
model.add_block(block0)
block1 = LoihiBlock(1)
block1.compartment.configure_lif()
model.add_block(block1)
axon1 = Axon(1)
block0.add_axon(axon1)
synapse1 = Synapse(1)
synapse1.set_full_weights([[1]])
axon1.target = synapse1
block1.add_synapse(synapse1)
axon0 = Axon(1)
input = LoihiInput()
input.add_axon(axon0)
model.add_input(input)
synapse0 = Synapse(1)
synapse0.set_full_weights([[1]])
axon0.target = synapse0
block0.add_synapse(synapse0)
discretize_model(model)
return model
def test_negative_cxbase(request, seed):
n_axons = 3
model = Model()
input = SpikeInput(n_axons)
input.add_spikes(1, list(range(n_axons)))
model.add_input(input)
axon = Axon(n_axons)
input.add_axon(axon)
block = LoihiBlock(3)
block.compartment.configure_relu()
model.add_block(block)
synapse = Synapse(n_axons)
weights = [0.1, 0.1, 0.1]
indices = [0, 1, 2]
axon_to_weight_map = list(range(n_axons))
cx_bases = [0, 1, -1]
synapse.set_population_weights(weights,
indices,
axon_to_weight_map,
cx_bases,
pop_type=32)
axon.target = synapse
block.add_synapse(synapse)
probe = Probe(target=block, key='voltage')
block.add_probe(probe)
discretize_model(model)
n_steps = 2
if request.config.getoption("--target") == 'loihi':
with HardwareInterface(model, use_snips=False, seed=seed) as sim:
sim.run_steps(n_steps)
y = sim.get_probe_output(probe)
else:
with EmulatorInterface(model, seed=seed) as sim:
sim.run_steps(n_steps)
y = sim.get_probe_output(probe)
# Compartments 0 and 2 should change from axons 0 and 1.
# Axon 2 should have no effect, and not change compartment 1 (the sum of
# its cx_base and index), or other compartments (e.g. 2 if cx_base ignored)
assert np.allclose(y[1, 1], 0), "Third axon not ignored"
assert np.allclose(y[1, 0], y[1, 2]), "Third axon targeting another"
assert not np.allclose(y[1], y[0]), "Voltage not changing"
def test_multiple_get_probe_output():
n_steps = 15
n_axons = 3
model = Model()
# n_axons controls number of input spikes and thus amount of overflow
input = SpikeInput(n_axons)
for t in np.arange(1, n_steps + 1):
input.add_spikes(t, np.arange(n_axons)) # send spikes to all axons
model.add_input(input)
block = LoihiBlock(1)
block.compartment.configure_relu()
block.compartment.configure_filter(0.1)
model.add_block(block)
synapse = Synapse(n_axons)
synapse.set_weights(np.ones((n_axons, 1)))
block.add_synapse(synapse)
axon = Axon(n_axons)
axon.target = synapse
input.add_axon(axon)
probe_u = LoihiProbe(target=block, key="current", synapse=Lowpass(0.005))
model.add_probe(probe_u)
probe_v = LoihiProbe(target=block, key="voltage", synapse=Lowpass(0.005))
model.add_probe(probe_v)
probe_s = LoihiProbe(target=block, key="spiked", synapse=Lowpass(0.005))
model.add_probe(probe_s)
discretize_model(model)
# must set these after `discretize` to specify discretized values
block.compartment.vmin = -(2**22) + 1
block.compartment.vth[:] = VTH_MAX
with EmulatorInterface(model) as emu:
emu.run_steps(n_steps)
first_u = emu.get_probe_output(probe_u)
first_v = emu.get_probe_output(probe_v)
first_s = emu.get_probe_output(probe_s)
second_u = emu.get_probe_output(probe_u)
second_v = emu.get_probe_output(probe_v)
second_s = emu.get_probe_output(probe_s)
assert np.all(first_u == second_u)
assert np.all(first_v == second_v)
assert np.all(first_s == second_s)
def test_builder_poptype_errors():
pytest.importorskip("nxsdk")
# Test error in build_synapse
model = Model()
block = LoihiBlock(1)
block.compartment.configure_lif()
model.add_block(block)
synapse = Synapse(1)
synapse.set_weights([[1]])
synapse.pop_type = 8
block.add_synapse(synapse)
discretize_model(model)
allocator = Greedy() # one core per ensemble
board = allocator(model, n_chips=1)
with pytest.raises(ValueError, match="[Ss]ynapse.*[Uu]nrec.*pop.*type"):
build_board(board)
# Test error in collect_axons
model = Model()
block0 = LoihiBlock(1)
block0.compartment.configure_lif()
model.add_block(block0)
block1 = LoihiBlock(1)
block1.compartment.configure_lif()
model.add_block(block1)
axon = Axon(1)
block0.add_axon(axon)
synapse = Synapse(1)
synapse.set_weights([[1]])
synapse.pop_type = 8
axon.target = synapse
block1.add_synapse(synapse)
discretize_model(model)
board = allocator(model, n_chips=1)
with pytest.raises(ValueError, match="[Aa]xon.*[Uu]nrec.*pop.*type"):
build_board(board)
def get_block(self, weights, block_label=None, syn_label=None):
gain = self.gain * self.dt
bias = self.bias * self.dt
d, n = weights.shape
n_neurons = 2 * d * self.pairs_per_dim
block = LoihiBlock(n_neurons, label=block_label)
block.compartment.configure_relu(dt=self.dt)
block.compartment.bias[:] = bias.repeat(d)
syn = Synapse(n, label=syn_label)
weights2 = []
for ga, gb in gain.reshape(self.pairs_per_dim, 2):
weights2.extend([ga * weights.T, -gb * weights.T])
weights2 = np.hstack(weights2)
syn.set_full_weights(weights2)
block.add_synapse(syn)
return block, syn
def get_block(self, weights, block_label=None, syn_label=None):
gain = self.gain * self.dt
bias = self.bias * self.dt
n, d = weights.shape
n_neurons = 2 * d * self.pairs_per_dim
block = LoihiBlock(n_neurons, label=block_label)
block.compartment.configure_relu(dt=self.dt)
block.compartment.bias[:] = bias.repeat(d)
syn = Synapse(n, label=syn_label)
weights2 = []
for ga, gb in gain.reshape(self.pairs_per_dim, 2):
weights2.extend([scale_matrix(weights, ga), scale_matrix(weights, -gb)])
weights2 = stack_matrices(weights2, order="h")
syn.set_weights(weights2)
block.add_synapse(syn)
return block, syn
def test_validate_block():
# too many compartments
block = LoihiBlock(1200)
assert block.compartment.n_compartments > 1024
with pytest.raises(BuildError, match="Number of compartments"):
validate_block(block)
# too many input axons
block = LoihiBlock(410)
block.add_synapse(Synapse(5000))
with pytest.raises(BuildError, match="Input axons"):
validate_block(block)
# too many output axons
block = LoihiBlock(410)
synapse = Synapse(2500)
axon = Axon(5000)
axon.target = synapse
block.add_synapse(synapse)
block.add_axon(axon)
with pytest.raises(BuildError, match="Output axons"):
validate_block(block)
# too many synapse bits
block = LoihiBlock(600)
synapse = Synapse(500)
synapse.set_full_weights(np.ones((500, 600)))
axon = Axon(500)
axon.target = synapse
block.add_synapse(synapse)
block.add_axon(axon)
with pytest.raises(BuildError, match="synapse bits"):
validate_block(block)
def test_uv_overflow(n_axons, plt, allclose, monkeypatch):
# TODO: Currently this is not testing the V overflow, since it is higher
# and I haven't been able to figure out a way to make it overflow.
nt = 15
model = Model()
# n_axons controls number of input spikes and thus amount of overflow
input = SpikeInput(n_axons)
for t in np.arange(1, nt + 1):
# send spikes to all axons
input.add_spikes(t, np.arange(n_axons), permanent=True)
model.add_input(input)
block = LoihiBlock(1)
block.compartment.configure_relu()
block.compartment.configure_filter(0.1)
model.add_block(block)
synapse = Synapse(n_axons)
synapse.set_weights(np.ones((n_axons, 1)))
block.add_synapse(synapse)
axon = Axon(n_axons)
axon.target = synapse
input.add_axon(axon)
probe_u = LoihiProbe(target=block, key="current")
model.add_probe(probe_u)
probe_v = LoihiProbe(target=block, key="voltage")
model.add_probe(probe_v)
probe_s = LoihiProbe(target=block, key="spiked")
model.add_probe(probe_s)
discretize_model(model)
# must set these after `discretize` to specify discretized values
block.compartment.vmin = -(2**22) + 1
block.compartment.vth[:] = VTH_MAX
assert EmulatorInterface.strict # Tests should be run in strict mode
monkeypatch.setattr(EmulatorInterface, "strict", False)
overflow_var = "q0" if n_axons == 1000 else "current"
with EmulatorInterface(model) as emu:
with pytest.warns(UserWarning, match=f"Overflow in {overflow_var}"):
emu.run_steps(nt)
emu_u = emu.collect_probe_output(probe_u)
emu_v = emu.collect_probe_output(probe_v)
emu_s = emu.collect_probe_output(probe_s)
with HardwareInterface(model, use_snips=False) as sim:
sim.run_steps(nt)
sim_u = sim.collect_probe_output(probe_u)
sim_v = sim.collect_probe_output(probe_v)
sim_s = sim.collect_probe_output(probe_s)
sim_v[sim_s > 0] = 0 # since Loihi has placeholder voltage after spike
plt.subplot(311)
plt.plot(emu_u)
plt.plot(sim_u)
plt.subplot(312)
plt.plot(emu_v)
plt.plot(sim_v)
plt.subplot(313)
plt.plot(emu_s)
plt.plot(sim_s)
assert allclose(emu_u, sim_u)
assert allclose(emu_v, sim_v)
def build_connection(model, conn):
if nengo_transforms is not None:
if isinstance(conn.transform, nengo_transforms.Convolution):
# TODO: integrate these into the same function
conv.build_conv2d_connection(model, conn)
return
elif not isinstance(conn.transform, nengo_transforms.Dense):
raise NotImplementedError(
"nengo-loihi does not yet support %s transforms"
% conn.transform)
# Create random number generator
rng = np.random.RandomState(model.seeds[conn])
pre_cx = model.objs[conn.pre_obj]['out']
post_cx = model.objs[conn.post_obj]['in']
assert isinstance(pre_cx, (LoihiBlock, LoihiInput))
assert isinstance(post_cx, (LoihiBlock, Probe))
weights = None
eval_points = None
solver_info = None
neuron_type = None
post_slice = conn.post_slice
# sample transform (if using a distribution)
transform = sample_transform(conn, rng=rng)
tau_s = 0.0 # `synapse is None` gets mapped to `tau_s = 0.0`
if isinstance(conn.synapse, nengo.synapses.Lowpass):
tau_s = conn.synapse.tau
elif conn.synapse is not None:
raise NotImplementedError("Cannot handle non-Lowpass synapses")
needs_decode_neurons = False
target_encoders = None
if isinstance(conn.pre_obj, Node):
assert conn.pre_slice == slice(None)
if np.array_equal(transform, np.array(1.)):
# TODO: this identity transform may be avoidable
transform = np.eye(conn.pre.size_out)
else:
assert transform.ndim == 2, "transform shape not handled yet"
assert transform.shape[1] == conn.pre.size_out
assert transform.shape[1] == conn.pre.size_out
if isinstance(conn.pre_obj, ChipReceiveNeurons):
weights = transform / model.dt
neuron_type = conn.pre_obj.neuron_type
else:
# input is on-off neuron encoded, so double/flip transform
weights = np.column_stack([transform, -transform])
target_encoders = 'node_encoders'
elif (isinstance(conn.pre_obj, Ensemble)
and isinstance(conn.pre_obj.neuron_type, nengo.Direct)):
raise NotImplementedError()
elif isinstance(conn.pre_obj, Ensemble): # Normal decoded connection
eval_points, decoders, solver_info = model.build(
conn.solver, conn, rng, transform)
if conn.solver.weights and not conn.solver.compositional:
weights = decoders
else:
weights = multiply(transform, decoders)
# the decoder solver assumes a spike height of 1/dt; that isn't the
# case on loihi, so we need to undo that scaling
weights = weights / model.dt
neuron_type = conn.pre_obj.neuron_type
if conn.solver.weights:
# weight solvers only allowed on ensemble->ensemble connections
assert isinstance(conn.post_obj, Ensemble)
if conn.solver.compositional:
encoders = model.params[conn.post_obj].scaled_encoders.T
encoders = encoders[post_slice]
weights = multiply(encoders.T, weights)
# post slice already applied to encoders (either here or in
# `build_decoders`), so don't apply later
post_slice = None
else:
needs_decode_neurons = True
elif isinstance(conn.pre_obj, Neurons):
assert conn.pre_slice == slice(None)
assert transform.ndim == 2, "transform shape not handled yet"
weights = transform / model.dt
neuron_type = conn.pre_obj.ensemble.neuron_type
else:
raise NotImplementedError("Connection from type %r" % (
type(conn.pre_obj),))
if neuron_type is not None and hasattr(neuron_type, 'amplitude'):
weights = weights * neuron_type.amplitude
mid_cx = pre_cx
mid_axon_inds = None
post_tau = tau_s
if needs_decode_neurons and not isinstance(conn.post_obj, Neurons):
# --- add decode neurons
assert weights.ndim == 2
d, n = weights.shape
if isinstance(post_cx, Probe):
# use non-spiking decode neurons for voltage probing
assert post_cx.target is None
assert post_slice == slice(None)
# use the same scaling as the ensemble does, to get good
# decodes. Note that this assumes that the decoded value
# is in the range -radius to radius, which is usually true.
weights = weights / conn.pre_obj.radius
gain = 1
dec_cx = LoihiBlock(2 * d, label='%s' % conn)
dec_cx.compartment.configure_nonspiking(
dt=model.dt, vth=model.vth_nonspiking)
dec_cx.compartment.bias[:] = 0
model.add_block(dec_cx)
model.objs[conn]['decoded'] = dec_cx
dec_syn = Synapse(n, label="probe_decoders")
weights2 = gain * np.vstack([weights, -weights]).T
dec_syn.set_full_weights(weights2)
dec_cx.add_synapse(dec_syn)
model.objs[conn]['decoders'] = dec_syn
else:
# use spiking decode neurons for on-chip connection
if isinstance(conn.post_obj, Ensemble):
# loihi encoders don't include radius, so handle scaling here
weights = weights / conn.post_obj.radius
post_d = conn.post_obj.size_in
post_inds = np.arange(post_d, dtype=np.int32)[post_slice]
assert weights.shape[0] == len(post_inds) == conn.size_out == d
mid_axon_inds = model.decode_neurons.get_post_inds(
post_inds, post_d)
target_encoders = 'decode_neuron_encoders'
dec_cx, dec_syn = model.decode_neurons.get_block(
weights, block_label="%s" % conn, syn_label="decoders")
model.add_block(dec_cx)
model.objs[conn]['decoded'] = dec_cx
model.objs[conn]['decoders'] = dec_syn
# use tau_s for filter into decode neurons, decode_tau for filter out
dec_cx.compartment.configure_filter(tau_s, dt=model.dt)
post_tau = model.decode_tau
dec_ax0 = Axon(n, label="decoders")
dec_ax0.target = dec_syn
pre_cx.add_axon(dec_ax0)
model.objs[conn]['decode_axon'] = dec_ax0
if conn.learning_rule_type is not None:
rule_type = conn.learning_rule_type
if isinstance(rule_type, nengo.PES):
if not isinstance(rule_type.pre_synapse,
nengo.synapses.Lowpass):
raise ValidationError(
"Loihi only supports `Lowpass` pre-synapses for "
"learning rules", attr='pre_synapse', obj=rule_type)
tracing_tau = rule_type.pre_synapse.tau / model.dt
# Nengo builder scales PES learning rate by `dt / n_neurons`
n_neurons = (conn.pre_obj.n_neurons
if isinstance(conn.pre_obj, Ensemble)
else conn.pre_obj.size_in)
learning_rate = rule_type.learning_rate * model.dt / n_neurons
# Account for scaling to put integer error in range [-127, 127]
learning_rate /= model.pes_error_scale
# Tracing mag set so that the magnitude of the pre trace
# is independent of the pre tau. `dt` factor accounts for
# Nengo's `dt` spike scaling. Where is the second `dt` from?
# Maybe the fact that post decode neurons have `vth = 1/dt`?
tracing_mag = -np.expm1(-1. / tracing_tau) / model.dt**2
# learning weight exponent controls the maximum weight
# magnitude/weight resolution
wgt_exp = model.pes_wgt_exp
dec_syn.set_learning(
learning_rate=learning_rate,
tracing_mag=tracing_mag,
tracing_tau=tracing_tau,
wgt_exp=wgt_exp,
)
else:
raise NotImplementedError()
mid_cx = dec_cx
if isinstance(post_cx, Probe):
assert post_cx.target is None
assert post_slice == slice(None)
post_cx.target = mid_cx
mid_cx.add_probe(post_cx)
elif isinstance(conn.post_obj, Neurons):
assert isinstance(post_cx, LoihiBlock)
assert post_slice == slice(None)
if weights is None:
raise NotImplementedError("Need weights for connection to neurons")
else:
assert weights.ndim == 2
n2, n1 = weights.shape
assert post_cx.n_neurons == n2
syn = Synapse(n1, label="neuron_weights")
gain = model.params[conn.post_obj.ensemble].gain
syn.set_full_weights(weights.T * gain)
post_cx.add_synapse(syn)
model.objs[conn]['weights'] = syn
ax = Axon(mid_cx.n_neurons, label="neuron_weights")
ax.target = syn
mid_cx.add_axon(ax)
post_cx.compartment.configure_filter(post_tau, dt=model.dt)
if conn.learning_rule_type is not None:
raise NotImplementedError()
elif isinstance(conn.post_obj, Ensemble) and conn.solver.weights:
assert isinstance(post_cx, LoihiBlock)
assert weights.ndim == 2
n2, n1 = weights.shape
assert post_cx.n_neurons == n2
# loihi encoders don't include radius, so handle scaling here
weights = weights / conn.post_obj.radius
syn = Synapse(n1, label="%s::decoder_weights" % conn)
syn.set_full_weights(weights.T)
post_cx.add_synapse(syn)
model.objs[conn]['weights'] = syn
ax = Axon(n1, label="decoder_weights")
ax.target = syn
mid_cx.add_axon(ax)
post_cx.compartment.configure_filter(post_tau, dt=model.dt)
if conn.learning_rule_type is not None:
raise NotImplementedError()
elif isinstance(conn.post_obj, Ensemble):
assert target_encoders is not None
if target_encoders not in post_cx.named_synapses:
build_decode_neuron_encoders(
model, conn.post_obj, kind=target_encoders)
mid_ax = Axon(mid_cx.n_neurons, label="encoders")
mid_ax.target = post_cx.named_synapses[target_encoders]
mid_ax.set_axon_map(mid_axon_inds)
mid_cx.add_axon(mid_ax)
model.objs[conn]['mid_axon'] = mid_ax
post_cx.compartment.configure_filter(post_tau, dt=model.dt)
else:
# This includes Node, since nodes can't be targets on-chip
raise NotImplementedError()
model.params[conn] = BuiltConnection(
eval_points=eval_points,
solver_info=solver_info,
transform=transform,
weights=weights)
def test_pop_tiny(pop_type, channels_last, nc, request, plt, seed, allclose):
tau_rc = 0.02
tau_ref = 0.001
tau_s = 0.0
dt = 0.001
neuron_bias = 1.
pres_time = 0.4
sti, stj = 1, 1
if nc == 1:
filters = np.array([[-0.5, 2., -0.25], [-0.75, 2., -1.0],
[-0.5, 3., -0.5], [-1.0, 6.,
-0.25]]).reshape(1, 4, 1, 3)
inp_biases = np.array([[1, 5, 1], [2, 1, 2]])
inp_biases = inp_biases[:, :, None]
elif nc == 2:
filters = np.array([[[-0.5, 2., -0.2], [-0.7, 2., -1.0],
[-0.5, 3., -0.5], [-1.0, 6., -0.2]],
[[-1.0, 2., -1.0], [-0.5, 2., -0.5],
[-0.8, 3., -0.2], [-1.0, 4.,
-0.2]]]).reshape(2, 4, 1, 3)
inp_biases = np.array([[[1, 5, 1], [2, 1, 2]], [[0, 3, 1], [4, 2, 1]]])
inp_biases = np.transpose(inp_biases, (1, 2, 0))
# rearrange to (kernel_rows, kernel_cols, in_channels, out_channels)
filters = np.transpose(filters, (2, 3, 0, 1))
inp_biases = inp_biases / (inp_biases.max() + 0.001)
# --- compute nengo_loihi outputs
ni, nj, nk = inp_biases.shape
si, sj, nc, nf = filters.shape
nij = ni * nj
nyi = 1 + (ni - si) // sti
nyj = 1 + (nj - sj) // stj
out_size = nyi * nyj * nf
assert out_size <= 1024
model = Model()
# input block
inp = LoihiBlock(ni * nj * nk, label='inp')
assert inp.n_neurons <= 1024
inp.compartment.configure_relu()
inp.compartment.bias[:] = inp_biases.ravel()
inp_ax = Axon(nij, label='inp_ax')
# we always compute the pixel/channel idxs with channels_last=True
# (not sure why?), and then set it to the correct value afterwards
inp_shape = nengo_transforms.ChannelShape((ni, nj, nk), channels_last=True)
inp_ax.set_compartment_axon_map(target_axons=conv.pixel_idxs(inp_shape),
atoms=conv.channel_idxs(inp_shape))
inp_shape.shape = (ni, nj, nk) if channels_last else (nk, ni, nj)
inp_shape.channels_last = channels_last
inp.add_axon(inp_ax)
model.add_block(inp)
# conv block
neurons = LoihiBlock(out_size, label='neurons')
assert neurons.n_neurons <= 1024
neurons.compartment.configure_lif(tau_rc=tau_rc, tau_ref=tau_ref, dt=dt)
neurons.compartment.configure_filter(tau_s, dt=dt)
neurons.compartment.bias[:] = neuron_bias
synapse = Synapse(np.prod(inp_shape.spatial_shape), label='synapse')
conv2d_transform = nengo_transforms.Convolution(
nf,
inp_shape,
strides=(sti, stj),
channels_last=channels_last,
init=filters,
kernel_size=(1, 3))
weights, indices, axon_to_weight_map, bases = conv.conv2d_loihi_weights(
conv2d_transform)
synapse.set_population_weights(weights,
indices,
axon_to_weight_map,
bases,
pop_type=pop_type)
neurons.add_synapse(synapse)
out_probe = Probe(target=neurons, key='spiked')
neurons.add_probe(out_probe)
inp_ax.target = synapse
model.add_block(neurons)
# simulation
discretize_model(model)
n_steps = int(pres_time / dt)
target = request.config.getoption("--target")
if target == 'loihi':
with HardwareInterface(model, use_snips=False, seed=seed) as sim:
sim.run_steps(n_steps)
sim_out = sim.get_probe_output(out_probe)
else:
with EmulatorInterface(model, seed=seed) as sim:
sim.run_steps(n_steps)
sim_out = sim.get_probe_output(out_probe)
sim_out = np.sum(sim_out, axis=0) * (dt / pres_time)
if channels_last:
sim_out.shape = (nyi, nyj, nf)
sim_out = np.transpose(sim_out, (2, 0, 1))
else:
sim_out.shape = (nf, nyi, nyj)
out_max = sim_out.max()
# --- plot results
rows = 1
cols = 2
ax = plt.subplot(rows, cols, 1)
plt.hist(sim_out.ravel(), bins=11)
ax = plt.subplot(rows, cols, 2)
tile(sim_out, vmin=0, vmax=out_max, grid=True, ax=ax)
# ref_out determined by emulator running code known to work
if nc == 1:
ref_out = np.array([[0.06, 0.02], [0.055, 0.], [0.0825, 0.0225],
[0.125, 0.04]])
elif nc == 2:
ref_out = np.array([[0.0975, 0.02], [0.0825, 0.02], [0.125, 0.055],
[0.2475, 0.0825]])
assert allclose(sim_out[:, :, 0], ref_out, rtol=0, atol=1e-7)
def test_conv2d_weights(channels_last, hw_opts, request, plt, seed, rng,
allclose):
def loihi_rates_n(neuron_type, x, gain, bias, dt):
"""Compute Loihi rates on higher dimensional inputs"""
y = x.reshape(-1, x.shape[-1])
gain = np.asarray(gain)
bias = np.asarray(bias)
if gain.ndim == 0:
gain = gain * np.ones(x.shape[-1])
if bias.ndim == 0:
bias = bias * np.ones(x.shape[-1])
rates = loihi_rates(neuron_type, y, gain, bias, dt)
return rates.reshape(*x.shape)
if channels_last:
plt.saveas = None
pytest.xfail("Blocked by CxBase cannot be > 256 bug")
target = request.config.getoption("--target")
if target != 'loihi' and len(hw_opts) > 0:
pytest.skip("Hardware options only available on hardware")
pop_type = 32
# load data
with open(os.path.join(test_dir, 'mnist10.pkl'), 'rb') as f:
test10 = pickle.load(f)
test_x = test10[0][0].reshape(28, 28)
test_x = test_x[3:24, 3:24]
test_x = 1.999 * test_x - 0.999
filters = Gabor(freq=Uniform(0.5, 1)).generate(8, (7, 7), rng=rng)
sti, stj = 2, 2
tau_rc = 0.02
tau_ref = 0.002
tau_s = 0.005
dt = 0.001
encode_type = nengo.SpikingRectifiedLinear()
encode_gain = 1. / dt
encode_bias = 0.
neuron_type = nengo.LIF(tau_rc=tau_rc, tau_ref=tau_ref)
neuron_gain = 1.
neuron_bias = 1.
pres_time = 0.2
# --- compute ideal outputs
def conv_pm(x, kernel):
y0 = scipy.signal.correlate2d(x[0], kernel, mode='valid')[::sti, ::stj]
y1 = scipy.signal.correlate2d(x[1], kernel, mode='valid')[::sti, ::stj]
return [y0, -y1]
ref_out = np.array([test_x, -test_x])
ref_out = loihi_rates_n(encode_type, ref_out, encode_gain, encode_bias, dt)
ref_out = ref_out / encode_gain
ref_out = np.array([conv_pm(ref_out, kernel) for kernel in filters])
ref_out = ref_out.sum(axis=1) # sum positive and negative parts
ref_out = loihi_rates_n(neuron_type, ref_out, neuron_gain, neuron_bias, dt)
# --- compute nengo_loihi outputs
inp_biases = np.stack([test_x, -test_x], axis=-1 if channels_last else 0)
inp_shape = nengo_transforms.ChannelShape(inp_biases.shape,
channels_last=channels_last)
kernel = np.array([filters, -filters]) # two channels, pos and neg
kernel = np.transpose(kernel, (2, 3, 0, 1))
conv2d_transform = nengo_transforms.Convolution(
8,
inp_shape,
strides=(sti, stj),
channels_last=channels_last,
kernel_size=(7, 7),
init=kernel)
out_size = ref_out.size
nf, nyi, nyj = ref_out.shape
assert out_size <= 1024
model = Model()
# input block
inp = LoihiBlock(inp_shape.size, label='inp')
assert inp.n_neurons <= 1024
inp.compartment.configure_relu()
inp.compartment.bias[:] = inp_biases.ravel()
inp_ax = Axon(np.prod(inp_shape.spatial_shape), label='inp_ax')
inp_ax.set_compartment_axon_map(target_axons=conv.pixel_idxs(inp_shape),
atoms=conv.channel_idxs(inp_shape))
inp.add_axon(inp_ax)
model.add_block(inp)
# conv block
neurons = LoihiBlock(out_size, label='neurons')
assert neurons.n_neurons <= 1024
neurons.compartment.configure_lif(tau_rc=tau_rc, tau_ref=tau_ref, dt=dt)
neurons.compartment.configure_filter(tau_s, dt=dt)
neurons.compartment.bias[:] = neuron_bias
synapse = Synapse(np.prod(inp_shape.spatial_shape), label='synapse')
weights, indices, axon_to_weight_map, bases = conv.conv2d_loihi_weights(
conv2d_transform)
synapse.set_population_weights(weights,
indices,
axon_to_weight_map,
bases,
pop_type=pop_type)
neurons.add_synapse(synapse)
out_probe = Probe(target=neurons, key='spiked')
neurons.add_probe(out_probe)
inp_ax.target = synapse
model.add_block(neurons)
# simulation
discretize_model(model)
n_steps = int(pres_time / dt)
if target == 'loihi':
with HardwareInterface(model, use_snips=False, seed=seed,
**hw_opts) as sim:
sim.run_steps(n_steps)
sim_out = sim.get_probe_output(out_probe)
else:
with EmulatorInterface(model, seed=seed) as sim:
sim.run_steps(n_steps)
sim_out = sim.get_probe_output(out_probe)
sim_out = np.sum(sim_out, axis=0) / pres_time
if channels_last:
sim_out.shape = (nyi, nyj, nf)
sim_out = np.transpose(sim_out, (2, 0, 1))
else:
sim_out.shape = (nf, nyi, nyj)
out_max = max(ref_out.max(), sim_out.max())
# --- plot results
rows = 2
cols = 2
ax = plt.subplot(rows, cols, 1)
tile(filters, cols=8, ax=ax)
ax = plt.subplot(rows, cols, 2)
tile(ref_out, vmin=0, vmax=out_max, cols=8, ax=ax)
ax = plt.subplot(rows, cols, 3)
plt.hist(ref_out.ravel(), bins=31)
plt.hist(sim_out.ravel(), bins=31)
ax = plt.subplot(rows, cols, 4)
# tile(sim_out, vmin=0, vmax=1, cols=8, ax=ax)
tile(sim_out, vmin=0, vmax=out_max, cols=8, ax=ax)
assert allclose(sim_out, ref_out, atol=10, rtol=1e-3)
def test_population_input(request, allclose):
target = request.config.getoption("--target")
dt = 0.001
n_inputs = 3
n_axons = 1
n_cx = 2
steps = 6
spike_times_inds = [(1, [0]), (3, [1]), (5, [2])]
model = Model()
input = SpikeInput(n_inputs)
model.add_input(input)
spikes = [(input, ti, inds) for ti, inds in spike_times_inds]
input_axon = Axon(n_axons)
axon_map = np.zeros(n_inputs, dtype=int)
atoms = np.arange(n_inputs)
input_axon.set_axon_map(axon_map, atoms)
input.add_axon(input_axon)
block = LoihiBlock(n_cx)
block.compartment.configure_lif(tau_rc=0., tau_ref=0., dt=dt)
block.compartment.configure_filter(0, dt=dt)
model.add_block(block)
synapse = Synapse(n_axons)
weights = 0.1 * np.array([[[1, 2], [2, 3], [4, 5]]], dtype=float)
indices = np.array([[[0, 1], [0, 1], [0, 1]]], dtype=int)
axon_to_weight_map = np.zeros(n_axons, dtype=int)
cx_bases = np.zeros(n_axons, dtype=int)
synapse.set_population_weights(weights,
indices,
axon_to_weight_map,
cx_bases,
pop_type=32)
block.add_synapse(synapse)
input_axon.target = synapse
probe = Probe(target=block, key='voltage')
block.add_probe(probe)
discretize_model(model)
if target == 'loihi':
with HardwareInterface(model, use_snips=True) as sim:
sim.run_steps(steps, blocking=False)
for ti in range(1, steps + 1):
spikes_i = [spike for spike in spikes if spike[1] == ti]
sim.host2chip(spikes=spikes_i, errors=[])
sim.chip2host(probes_receivers={})
y = sim.get_probe_output(probe)
else:
for inp, ti, inds in spikes:
inp.add_spikes(ti, inds)
with EmulatorInterface(model) as sim:
sim.run_steps(steps)
y = sim.get_probe_output(probe)
vth = block.compartment.vth[0]
assert (block.compartment.vth == vth).all()
z = y / vth
assert allclose(z[[1, 3, 5]], weights[0], atol=4e-2, rtol=0)
def build_full_chip_connection(model, conn): # noqa: C901
"""Build dense or sparse connections on-chip"""
# Create random number generator
rng = np.random.RandomState(model.seeds[conn])
pre_obj = model.objs[conn.pre_obj]["out"]
post_obj = model.objs[conn.post_obj]["in"]
assert isinstance(pre_obj, (LoihiBlock, LoihiInput))
assert isinstance(post_obj, (LoihiBlock, LoihiProbe))
weights = None
eval_points = None
solver_info = None
neuron_type = None
pre_slice = conn.pre_slice
post_slice = conn.post_slice
# sample transform (if using a distribution), transform shape (out, in)
transform = sample_transform(conn, rng=rng)
tau_s = 0.0 # `synapse is None` gets mapped to `tau_s = 0.0`
if isinstance(conn.synapse, nengo.synapses.Lowpass):
tau_s = conn.synapse.tau
elif conn.synapse is not None:
raise NotImplementedError("Cannot handle non-Lowpass synapses")
needs_decode_neurons = False
target_encoders = None
is_chip_process = isinstance(conn.pre_obj, Node) and isinstance(
conn.pre_obj.output, ChipProcess
)
if isinstance(conn.pre_obj, Node) and not (
isinstance(conn.pre_obj, ChipReceiveNeurons) or is_chip_process
):
assert conn.pre_slice == slice(None)
weights = expand_matrix(transform, shape=(conn.post.size_in, conn.pre.size_out))
# input is on-off neuron encoded, so double/flip transform
weights = stack_matrices([weights, scale_matrix(weights, -1)], order="h")
target_encoders = "node_encoders"
elif isinstance(conn.pre_obj, Ensemble) and isinstance(
conn.pre_obj.neuron_type, nengo.Direct
):
raise NotImplementedError()
elif isinstance(conn.pre_obj, Ensemble): # Normal decoded connection
if isinstance(transform, scipy.sparse.spmatrix):
raise BuildError(
"Applying a sparse transform to a decoded connection is not supported"
)
eval_points, decoders, solver_info = model.build(
conn.solver, conn, rng, transform
)
pre_slice = slice(None) # taken care of in decoders
if conn.solver.weights and not conn.solver.compositional:
weights = decoders
else:
weights = multiply(transform, decoders)
# the decoder solver assumes a spike height of 1/dt; that isn't the
# case on loihi, so we need to undo that scaling
weights = scale_matrix(weights, 1.0 / model.dt)
neuron_type = conn.pre_obj.neuron_type
if conn.solver.weights:
# weight solvers only allowed on ensemble->ensemble connections
assert isinstance(conn.post_obj, Ensemble)
if conn.solver.compositional:
encoders = model.params[conn.post_obj].scaled_encoders
weights = multiply(encoders[:, post_slice], weights)
# post slice already applied to encoders (either here or in
# `build_decoders`), so don't apply later
post_slice = slice(None)
else:
needs_decode_neurons = True
elif isinstance(conn.pre_obj, (Neurons, ChipReceiveNeurons)) or is_chip_process:
weights = expand_matrix(transform, shape=(conn.post.size_in, conn.pre.size_out))
weights = scale_matrix(weights, 1.0 / model.dt)
neuron_type = (
None
if is_chip_process
else conn.pre_obj.neuron_type
if isinstance(conn.pre_obj, ChipReceiveNeurons)
else conn.pre_obj.ensemble.neuron_type
)
if isinstance(conn.post_obj, Ensemble):
needs_decode_neurons = True
else:
raise NotImplementedError("Connection from type %r" % (type(conn.pre_obj),))
if neuron_type is not None and hasattr(neuron_type, "amplitude"):
weights = scale_matrix(weights, neuron_type.amplitude)
# to proper dtype
transform = transform.astype(nengo.rc.float_dtype)
weights = weights.astype(nengo.rc.float_dtype)
# loihi_weights has shape (in, out), to match the shape by block.Synapses
loihi_weights = weights.T
mid_obj = pre_obj
mid_axon_inds = None
post_tau = tau_s
if needs_decode_neurons and not isinstance(conn.post_obj, Neurons):
# --- add decode neurons
assert weights.ndim == 2
n, d = loihi_weights.shape
if isinstance(post_obj, LoihiProbe):
# use non-spiking decode neurons for voltage probing
assert len(post_obj.target) == 0 or post_obj.target == [None]
assert post_slice == slice(None)
# use the same scaling as the ensemble does, to get good
# decodes. Note that this assumes that the decoded value
# is in the range -radius to radius, which is usually true.
gain = np.array(1.0 / conn.pre_obj.radius, dtype=nengo.rc.float_dtype)
decoder_block = LoihiBlock(2 * d, label="%s" % conn)
decoder_block.compartment.configure_nonspiking(
dt=model.dt, vth=model.vth_nonspiking
)
decoder_block.compartment.bias[:] = 0
dec_syn = Synapse(n, label="probe_decoders")
weights2 = stack_matrices(
[scale_matrix(loihi_weights, gain), scale_matrix(loihi_weights, -gain)],
order="h",
)
dec_syn.set_weights(weights2)
decoder_block.add_synapse(dec_syn)
else:
# use spiking decode neurons for on-chip connection
if isinstance(conn.post_obj, Ensemble):
# loihi encoders don't include radius, so handle scaling here
gain = np.array(1.0 / conn.post_obj.radius, dtype=nengo.rc.float_dtype)
loihi_weights = scale_matrix(loihi_weights, gain)
post_d = conn.post_obj.size_in
post_inds = np.arange(post_d, dtype=np.int32)[post_slice]
assert loihi_weights.shape[1] == len(post_inds) == conn.size_out
mid_axon_inds = model.decode_neurons.get_post_inds(post_inds, post_d)
target_encoders = "decode_neuron_encoders"
decoder_block, dec_syn = model.decode_neurons.get_block(
loihi_weights, block_label="%s" % conn, syn_label="decoders"
)
model.add_block(decoder_block)
model.objs[conn]["decoded"] = decoder_block
model.objs[conn]["decoders"] = dec_syn
model.connection_decode_neurons[conn] = decoder_block
# use tau_s for filter into decode neurons, decode_tau for filter out
decoder_block.compartment.configure_filter(tau_s, dt=model.dt)
post_tau = model.decode_tau
target_axons = -np.ones(pre_obj.n_neurons, dtype=np.int32)
target_axons[pre_slice] = np.arange(target_axons[pre_slice].size)
pre_slice = slice(None)
dec_ax0 = Axon(n, label="decoders")
dec_ax0.target = dec_syn
dec_ax0.set_compartment_axon_map(target_axons)
pre_obj.add_axon(dec_ax0)
model.objs[conn]["decode_axon"] = dec_ax0
loihi_weights = None # weights have now been handled
if conn.learning_rule_type is not None:
rule_type = conn.learning_rule_type
if isinstance(rule_type, nengo.PES):
if not isinstance(rule_type.pre_synapse, nengo.synapses.Lowpass):
raise ValidationError(
"Loihi only supports `Lowpass` pre-synapses for learning rules",
attr="pre_synapse",
obj=rule_type,
)
pre_tau = rule_type.pre_synapse.tau
float_tracing_tau = pre_tau / model.dt
tracing_tau = int(round(float_tracing_tau))
if not np.allclose(float_tracing_tau, tracing_tau):
warnings.warn(
f"PES learning rule `pre_synapse.tau` ({pre_tau}) is not an "
f"integer multiple of `dt` ({model.dt}). Rounding."
)
# Nengo builder scales PES learning rate by `dt / n_neurons`
n_neurons = (
conn.pre_obj.n_neurons
if isinstance(conn.pre_obj, Ensemble)
else conn.pre_obj.size_in
)
learning_rate = rule_type.learning_rate * model.dt / n_neurons
# Account for scaling to put integer error in range [-127, 127]
learning_rate /= model.pes_error_scale
# Tracing mag set so that the magnitude of the pre trace
# is independent of the pre tau. `dt` factor accounts for
# Nengo's `dt` spike scaling. Where is the second `dt` from?
# Maybe the fact that post decode neurons have `vth = 1/dt`?
tracing_mag = -np.expm1(-1.0 / tracing_tau) / model.dt**2
# learning weight exponent controls the maximum weight
# magnitude/weight resolution
wgt_exp = model.pes_wgt_exp
dec_syn.set_learning(
learning_rate=learning_rate,
tracing_mag=tracing_mag,
tracing_tau=tracing_tau,
wgt_exp=wgt_exp,
)
else:
raise NotImplementedError()
mid_obj = decoder_block
if isinstance(post_obj, LoihiProbe):
assert post_obj.target == [None]
assert post_slice == slice(None)
post_obj.target[0] = mid_obj
model.add_probe(post_obj)
elif isinstance(conn.post_obj, Neurons):
assert isinstance(post_obj, LoihiBlock)
assert post_slice == slice(None)
if loihi_weights is None:
raise NotImplementedError("Need weights for connection to neurons")
assert loihi_weights.ndim == 2
n1, n2 = loihi_weights.shape
assert post_obj.n_neurons == n2
syn = Synapse(n1, label="neuron_weights")
gain = model.params[conn.post_obj.ensemble].gain
loihi_weights = scale_matrix(loihi_weights, gain)
syn.set_weights(loihi_weights)
post_obj.add_synapse(syn)
model.objs[conn]["weights"] = syn
target_axons = -np.ones(mid_obj.n_neurons, dtype=np.int32)
target_axons[pre_slice] = np.arange(target_axons[pre_slice].size)
assert target_axons[pre_slice].size == n1
ax = Axon(mid_obj.n_neurons, label="neuron_weights")
ax.target = syn
ax.set_compartment_axon_map(target_axons)
mid_obj.add_axon(ax)
post_obj.compartment.configure_filter(post_tau, dt=model.dt)
if conn.learning_rule_type is not None:
raise NotImplementedError()
elif isinstance(conn.post_obj, Ensemble) and conn.solver.weights:
assert isinstance(post_obj, LoihiBlock)
assert pre_slice == slice(None), "Not implemented"
assert post_slice == slice(None)
assert loihi_weights.ndim == 2
n1, n2 = loihi_weights.shape
assert post_obj.n_neurons == n2
# loihi encoders don't include radius, so handle scaling here
scale = np.array(1.0 / conn.post_obj.radius, dtype=nengo.rc.float_dtype)
loihi_weights = scale_matrix(loihi_weights, scale)
syn = Synapse(n1, label="%s::decoder_weights" % conn)
syn.set_weights(loihi_weights)
post_obj.add_synapse(syn)
model.objs[conn]["weights"] = syn
ax = Axon(n1, label="decoder_weights")
ax.target = syn
mid_obj.add_axon(ax)
post_obj.compartment.configure_filter(post_tau, dt=model.dt)
if conn.learning_rule_type is not None:
raise NotImplementedError()
elif isinstance(conn.post_obj, Ensemble):
assert isinstance(post_obj, LoihiBlock)
assert pre_slice == slice(None), "Not implemented"
assert post_slice == slice(None)
assert target_encoders is not None
if target_encoders not in post_obj.named_synapses:
build_decode_neuron_encoders(model, conn.post_obj, kind=target_encoders)
mid_ax = Axon(mid_obj.n_neurons, label="encoders")
mid_ax.target = post_obj.named_synapses[target_encoders]
mid_ax.set_compartment_axon_map(mid_axon_inds)
mid_obj.add_axon(mid_ax)
model.objs[conn]["mid_axon"] = mid_ax
post_obj.compartment.configure_filter(post_tau, dt=model.dt)
else:
# This includes Node, since nodes can't be targets on-chip
raise NotImplementedError()
model.params[conn] = BuiltConnection(
eval_points=eval_points,
solver_info=solver_info,
transform=transform, # sampled transform
weights=weights, # scaled weights (including decoders)
)
