def __init__(self, vocab=Default, threshold=1., **kwargs):
super(SimilarityThreshold, self).__init__(**kwargs)
self.vocab = vocab
with self:
self.bias = nengo.Node(1)
self.dot = spa.Compare(self.vocab)
with nengo.presets.ThresholdingEnsembles(0.0):
self.threshold = nengo.Ensemble(150, 1)
nengo.Connection(self.bias, self.threshold, transform=-threshold)
self.output = nengo.Node(size_in=1)
self.input_a = self.dot.input_a
self.input_b = self.dot.input_b
nengo.Connection(self.dot.output, self.threshold)
nengo.Connection(self.threshold,
self.output,
function=lambda x: x > 0.,
synapse=None)
self.inputs = dict(input_a=(self.input_a, self.vocab),
input_b=(self.input_b, self.vocab))
self.outputs = dict(default=(self.output, None))
def test_nondefault_routing(Simulator, seed):
m = spa.Network(seed=seed)
m.config[spa.State].vocab = 3
m.config[spa.State].subdimensions = 3
with m:
m.ctrl = spa.State(16, subdimensions=16, label="ctrl")
def input_func(t):
if t < 0.2:
return "A"
elif t < 0.4:
return "B"
else:
return "C"
m.input = spa.Transcode(input_func, output_vocab=16)
m.buff1 = spa.State(label="buff1")
m.buff2 = spa.State(label="buff2")
m.cmp = spa.Compare(3)
node1 = nengo.Node([0, 1, 0])
node2 = nengo.Node([0, 0, 1])
nengo.Connection(node1, m.buff1.input)
nengo.Connection(node2, m.buff2.input)
m.input >> m.ctrl
with spa.ActionSelection():
spa.ifmax(
spa.dot(m.ctrl, spa.sym.A),
m.buff1 >> m.cmp.input_a,
m.buff1 >> m.cmp.input_b,
)
spa.ifmax(
spa.dot(m.ctrl, spa.sym.B),
m.buff1 >> m.cmp.input_a,
m.buff2 >> m.cmp.input_b,
)
spa.ifmax(
spa.dot(m.ctrl, spa.sym.C),
m.buff2 >> m.cmp.input_a,
m.buff2 >> m.cmp.input_b,
)
compare_probe = nengo.Probe(m.cmp.output, synapse=0.03)
with Simulator(m) as sim:
sim.run(0.6)
similarity = sim.data[compare_probe]
valueA = np.mean(similarity[150:200], axis=0) # should be [1]
valueB = np.mean(similarity[350:400], axis=0) # should be [0]
valueC = np.mean(similarity[550:600], axis=0) # should be [1]
assert valueA > 0.6
assert valueB < 0.3
assert valueC > 0.6
def test_basic():
with spa.Network():
compare = spa.Compare(vocab=16)
vocab_a = spa.Network.get_input_vocab(compare.input_a)
vocab_b = spa.Network.get_input_vocab(compare.input_b)
# all inputs should share the same vocab
assert vocab_a is vocab_b
assert vocab_a.dimensions == 16
# output should have no vocab
assert spa.Network.get_output_vocab(compare.output) is None
def BoundedIntegrator(d, beta, **kwargs):
kwargs.setdefault('label', "context.BoundedIntegrator")
net = nengo.Network(**kwargs)
with net:
net.input = nengo.Node(size_in=d)
net.bias_node = nengo.Node(1)
net.gate = spa.State(d)
net.current = spa.State(d, feedback=1, neurons_per_dimension=300)
net.dot = spa.Compare(d)
with nengo.presets.ThresholdingEnsembles(0.):
net.update_done = nengo.Ensemble(150, 1)
net.update_done_th = nengo.Node(size_in=1)
nengo.Connection(net.input, net.gate.input, synapse=None)
nengo.Connection(net.input, net.dot.input_a)
nengo.Connection(net.gate.output, net.current.input, transform=0.3)
nengo.Connection(net.current.output, net.dot.input_b)
nengo.Connection(net.dot.output, net.update_done)
nengo.Connection(net.bias_node, net.update_done, transform=-beta)
nengo.Connection(net.update_done,
net.update_done_th,
synapse=None,
function=lambda x: x > 0)
inhibit_net(net.update_done_th, net.gate, strength=3.)
ctx_square = net.current.state_ensembles.add_output(
'square', lambda x: x * x)
with nengo.presets.ThresholdingEnsembles(-0.1):
net.length = nengo.Ensemble(150, 1)
nengo.Connection(ctx_square, net.length, transform=-np.ones((1, d)))
nengo.Connection(net.bias_node, net.length)
net.downscale = spa.State(d)
nengo.Connection(net.current.output, net.downscale.input)
nengo.Connection(net.downscale.output,
net.current.input,
transform=-0.1)
inhibit_net(net.length,
net.downscale,
strength=3,
function=lambda x: 1 if x >= -0.1 else 0)
net.output = net.current.output
return net
def AlternatingMemoryBuffers(d, beta, **kwargs):
kwargs.setdefault('label', "context.AlternatingMemories")
with nengo.Network(**kwargs) as net:
net.input = nengo.Node(size_in=d)
net.new_ctx = nengo.Node(size_in=d)
net.current = GatedMemory(d)
net.old = GatedMemory(d)
net.dot = spa.Compare(d)
net.bias = nengo.Node(1.)
with nengo.presets.ThresholdingEnsembles(0.):
net.update_done = nengo.Ensemble(150, 1)
net.update_done_th = nengo.Node(size_in=1)
nengo.Connection(net.bias, net.update_done, transform=-1.1)
nengo.Connection(net.input, net.new_ctx, transform=beta)
nengo.Connection(net.new_ctx, net.current.input, synapse=None)
nengo.Connection(net.update_done,
net.update_done_th,
synapse=None,
function=lambda x: x > 0)
nengo.Connection(net.new_ctx, net.dot.input_a)
nengo.Connection(net.current.output, net.dot.input_b)
nengo.Connection(net.dot.output, net.update_done)
nengo.Connection(net.update_done_th, net.current.input_store)
nengo.Connection(net.current.output, net.old.input)
nengo.Connection(net.old.output,
net.new_ctx,
transform=np.sqrt(1. - (beta)**2))
with nengo.presets.ThresholdingEnsembles(0.):
net.invert = nengo.Ensemble(50, 1)
nengo.Connection(net.bias, net.invert)
nengo.Connection(net.update_done_th,
net.invert.neurons,
transform=-3 * np.ones((net.invert.n_neurons, 1)))
nengo.Connection(net.invert, net.old.input_store)
net.output = net.current.output
return net
def test_run(Simulator, seed):
with spa.Network(seed=seed) as model:
model.compare = spa.Compare(vocab=16)
model.compare.vocab.populate("A; B")
def inputA(t):
if 0 <= t < 0.1:
return "A"
else:
return "B"
model.input = spa.Transcode(inputA, output_vocab=16)
model.input >> model.compare.input_a
spa.sym.A >> model.compare.input_b
with model:
p = nengo.Probe(model.compare.output, synapse=0.03)
with Simulator(model) as sim:
sim.run(0.2)
assert sim.data[p][100] > 0.8
assert sim.data[p][199] < 0.2
def test_basal_ganglia(Simulator, seed, plt):
d = 64
with spa.Network(seed=seed) as m:
m.vision = spa.State(vocab=d)
m.motor = spa.State(vocab=d)
m.compare = spa.Compare(vocab=d)
def input(t):
if t < 0.1:
return '0'
elif t < 0.2:
return 'CAT'
elif t < 0.3:
return 'DOG*~CAT'
elif t < 0.4:
return 'PARROT'
elif t < 0.5:
return 'MOUSE'
else:
return '0'
m.encode = spa.Transcode(input, output_vocab=d)
# test all acceptable condition formats
with spa.ActionSelection() as actions:
spa.ifmax(0.5, spa.sym.A >> m.motor)
spa.ifmax(spa.dot(m.vision, spa.sym.CAT), spa.sym.B >> m.motor)
spa.ifmax(spa.dot(m.vision * spa.sym.CAT, spa.sym.DOG),
spa.sym.C >> m.motor)
spa.ifmax(2 * spa.dot(m.vision, spa.sym.CAT * 0.5),
spa.sym.D >> m.motor)
spa.ifmax(
spa.dot(m.vision, spa.sym.CAT) + 0.5 -
spa.dot(m.vision, spa.sym.CAT), spa.sym.E >> m.motor)
spa.ifmax(
spa.dot(m.vision, spa.sym.PARROT) + m.compare,
spa.sym.F >> m.motor)
spa.ifmax(0.5 * spa.dot(m.vision, spa.sym.MOUSE) + 0.5 * m.compare,
spa.sym.G >> m.motor)
spa.ifmax((spa.dot(m.vision, spa.sym.MOUSE) - m.compare) * 0.5,
spa.sym.H >> m.motor)
m.encode >> m.vision
spa.sym.SHOOP >> m.compare.input_a
spa.sym.SHOOP >> m.compare.input_b
bg = actions.bg
p = nengo.Probe(bg.input, 'output', synapse=0.03)
with Simulator(m) as sim:
sim.run(0.5)
t = sim.trange()
plt.plot(t, sim.data[p])
plt.legend(["A", "B", "C", "D", "E", "F", "G", "H"])
plt.title('Basal Ganglia output')
# assert the basal ganglia is prioritizing things correctly
# Motor F
assert sim.data[p][t == 0.4, 5] > 0.8
# Motor G
assert sim.data[p][t == 0.5, 6] > 0.8
# Motor A
assert 0.6 > sim.data[p][t == 0.1, 0] > 0.4
# Motor B
assert sim.data[p][t == 0.2, 1] > 0.8
# Motor C
assert sim.data[p][t == 0.3, 2] > 0.5
# Motor B should be the same as Motor D
assert np.allclose(sim.data[p][:, 1], sim.data[p][:, 3], atol=0.2)
# Motor A should be the same as Motor E
assert np.allclose(sim.data[p][:, 0], sim.data[p][:, 4], atol=0.2)
def __init__(self,
vocab=Default,
noise=0.,
min_evidence=0.,
n_inputs=1,
**kwargs):
super(NeuralAccumulatorDecisionProcess, self).__init__(**kwargs)
self.vocab = vocab
n_items, d = self.vocab.vectors.shape
with self:
assert n_inputs > 0
self.input_list = [nengo.Node(size_in=d) for _ in range(n_inputs)]
# Input rectification
with nengo.presets.ThresholdingEnsembles(0.):
self.inp_thrs = [
nengo.networks.EnsembleArray(50, n_items)
for _ in range(n_inputs)
]
# Evidence integration
with nengo.presets.ThresholdingEnsembles(0.):
self.state = nengo.networks.EnsembleArray(50, n_items + 1)
for inp, inp_thr in zip(self.input_list, self.inp_thrs):
nengo.Connection(inp,
inp_thr.input,
transform=self.vocab.vectors,
synapse=None)
nengo.Connection(inp_thr.output,
self.state.input[:-1],
transform=0.1)
self.bias = nengo.Node(1.)
nengo.Connection(self.bias,
self.state.input[-1],
transform=min_evidence)
nengo.Connection(self.state.output, self.state.input, synapse=0.1)
# Thresholding layer
with nengo.presets.ThresholdingEnsembles(0.8):
self.threshold = nengo.networks.EnsembleArray(50, n_items + 1)
nengo.Connection(self.state.output, self.threshold.input)
tr = -2 * (1. - np.eye(n_items + 1)) + 1. * np.eye(n_items + 1)
nengo.Connection(self.threshold.add_output(
'heaviside', lambda x: 1 if x > 0.8 else 0.),
self.state.input,
transform=tr,
synapse=0.1)
# Buffer for recalled item
self.buf = GatedMemory(self.vocab, diff_scale=10.)
nengo.Connection(self.threshold.heaviside[:-1],
self.buf.diff.input,
transform=self.vocab.vectors.T)
self.buf_input_store = nengo.Ensemble(25, 1)
nengo.Connection(self.buf_input_store, self.buf.input_store)
nengo.Connection(nengo.Node(1.), self.buf_input_store)
nengo.Connection(self.threshold.heaviside[:-1],
self.buf_input_store.neurons,
transform=-2. * np.ones(
(self.buf_input_store.n_neurons, n_items)))
# Inhibition of recalled items
self.inhibit = spa.State(self.vocab, feedback=1.)
self.inhibit_gate = spa.State(self.vocab)
nengo.Connection(self.buf.mem.output, self.inhibit_gate.input)
nengo.Connection(self.inhibit_gate.output,
self.inhibit.input,
synapse=0.1,
transform=0.1)
self.cmp = spa.Compare(self.vocab, neurons_per_dimension=50)
nengo.Connection(self.buf.mem.output, self.cmp.input_a)
nengo.Connection(self.inhibit.output, self.cmp.input_b)
with nengo.presets.ThresholdingEnsembles(0.):
self.inhibit_update_done = nengo.Ensemble(50, 1)
nengo.Connection(nengo.Node(-0.5), self.inhibit_update_done)
nengo.Connection(self.cmp.output, self.inhibit_update_done)
inhibit_net(self.inhibit_update_done,
self.inhibit_gate,
function=lambda x: x > 0)
with nengo.presets.ThresholdingEnsembles(0.1):
self.inhib_thr = nengo.networks.EnsembleArray(50, n_items)
# nengo.Connection(
# self.inhibit.output, self.inhib_thr.input,
# transform=self.vocab.vectors)
self.out_inhibit_gate = GatedMemory(self.vocab)
nengo.Connection(self.inhibit.output, self.out_inhibit_gate.input)
nengo.Connection(self.out_inhibit_gate.output,
self.inhib_thr.input,
transform=self.vocab.vectors)
nengo.Connection(self.inhib_thr.output,
self.state.input[:-1],
transform=-6.)
# Start over if recall fails
self.failed_recall_int = nengo.Ensemble(50, 1)
nengo.Connection(self.failed_recall_int,
self.failed_recall_int,
synapse=0.1,
transform=0.9)
nengo.Connection(self.threshold.heaviside[-1],
self.failed_recall_int,
transform=0.1,
synapse=0.1)
with nengo.presets.ThresholdingEnsembles(0.):
self.failed_recall = nengo.Ensemble(50, 1)
nengo.Connection(self.failed_recall_int, self.failed_recall)
nengo.Connection(nengo.Node(1.),
self.failed_recall,
transform=-0.3)
self.failed_recall_heaviside = nengo.Node(size_in=1)
nengo.Connection(self.failed_recall,
self.failed_recall_heaviside,
function=lambda x: x > 0.)
for e in self.state.ensembles:
nengo.Connection(self.failed_recall_heaviside,
e.neurons,
transform=-50. * np.ones((e.n_neurons, 1)),
synapse=0.1)
# Noise on input
if noise > 0.:
self.noise = nengo.Node(nengo.processes.WhiteNoise(
dist=nengo.dists.Gaussian(mean=0., std=noise)),
size_out=n_items + 1)
nengo.Connection(self.noise, self.state.input)
self.output = self.buf.output
self.inputs = dict(default=(self.input_list[0], self.vocab))
self.outputs = dict(default=(self.output, self.vocab))