def test_constructed_objects_are_accessible():
with spa.Network() as model:
model.config[spa.State].vocab = 16
model.state1 = spa.State()
model.state2 = spa.State()
model.state3 = spa.State()
with spa.ActionSelection() as actions:
spa.ifmax(spa.dot(model.state1, spa.sym.A),
model.state3 >> model.state2)
spa.ifmax(0.5, spa.sym.B >> model.state2)
bg = actions.bg
thalamus = actions.thalamus
assert isinstance(thalamus.gates[0], nengo.Ensemble)
assert isinstance(thalamus.gate_in_connections[0], nengo.Connection)
assert isinstance(thalamus.gate_out_connections[0], nengo.Connection)
assert isinstance(thalamus.channels[0], spa.State)
assert isinstance(thalamus.channel_out_connections[0],
nengo.Connection)
assert isinstance(thalamus.fixed_connections[1], nengo.Connection)
assert thalamus.bg_connection.pre is bg.output
assert thalamus.bg_connection.post is thalamus.input
def test_errors():
# motor does not exist
with pytest.raises(AttributeError):
with spa.Network() as model:
model.vision = spa.State(vocab=16)
with spa.ActionSelection:
spa.ifmax(0.5, spa.sym.A >> model.motor)
def test_action_selection_is_not_built_on_exception():
with spa.Network():
state1 = spa.State(16)
state2 = spa.State(32)
with pytest.raises(SpaTypeError):
with ActionSelection() as action_sel:
spa.ifmax(1.0, state1 >> state2)
assert not action_sel.built
def test_action_selection_keys_corner_cases():
with spa.Network():
with ActionSelection() as action_sel:
pass
assert list(action_sel.keys()) == []
with spa.Network():
with ActionSelection() as action_sel:
spa.ifmax(0.0)
assert list(action_sel.keys()) == [0]
def test_constructed_input_connections_are_accessible():
with spa.Network() as model:
model.config[spa.State].vocab = 16
model.state1 = spa.State()
model.state2 = spa.State()
with spa.ActionSelection() as actions:
spa.ifmax(spa.dot(model.state1, spa.sym.A), spa.sym.A >> model.state2)
bg = actions.bg
assert isinstance(bg.input_connections[0], nengo.Connection)
def test_routing_recurrency_compilation(Simulator, seed):
model = spa.Network(seed=seed)
model.config[spa.State].vocab = 2
model.config[spa.State].subdimensions = 2
with model:
model.buff1 = spa.State(label="buff1")
model.buff2 = spa.State(label="buff2")
with spa.ActionSelection():
spa.ifmax(0.5, model.buff1 >> model.buff2, model.buff2 >> model.buff1)
with Simulator(model) as sim:
assert sim
def test_action_selection_is_side_effect_free_if_exception_is_raised():
with spa.Network():
state_a = spa.State(32)
state_b = spa.State(32)
state_c = spa.State(64)
with pytest.raises(SpaTypeError):
with ActionSelection():
spa.ifmax(1, state_a >> state_b, state_a >> state_c)
with ActionSelection():
pass
def test_access_thal_and_bg_objects():
with spa.Network() as m:
m.a = spa.Scalar()
m.b = spa.Scalar()
m.c = spa.Scalar()
m.d = spa.Scalar()
with spa.ActionSelection() as actions:
spa.ifmax(m.a, 0 >> m.c)
spa.ifmax(m.b, 1 >> m.c)
assert isinstance(actions.bg, spa.BasalGanglia)
assert isinstance(actions.thalamus, spa.Thalamus)
def test_naming_of_actions():
with spa.Network():
state1 = spa.State(16)
state2 = spa.State(16)
with ActionSelection() as action_sel:
u0 = spa.ifmax("name0", 0.0, state1 >> state2)
u1 = spa.ifmax(0.0, state1 >> state2)
u2 = spa.ifmax("name2", 0.0, state1 >> state2)
assert tuple(action_sel.keys()) == ("name0", 1, "name2")
assert action_sel["name0"] is u0
assert action_sel["name2"] is u2
for i, u in enumerate((u0, u1, u2)):
assert action_sel[i] is u
def test_action_selection(Simulator, rng):
vocab = spa.Vocabulary(64)
vocab.populate("A; B; C; D; E; F")
with spa.Network() as model:
state = spa.Transcode(lambda t: "ABCDEF"[min(5, int(t / 0.5))],
output_vocab=vocab)
scalar = spa.Scalar()
pointer = spa.State(vocab)
with ActionSelection():
spa.ifmax(spa.dot(state, PointerSymbol("A")), 0.5 >> scalar)
spa.ifmax(spa.dot(state, PointerSymbol("B")),
PointerSymbol("B") >> pointer)
spa.ifmax(spa.dot(state, PointerSymbol("C")), state >> pointer)
d_utility = spa.ifmax(0, PointerSymbol("D") >> pointer)
spa.ifmax(
spa.dot(state, PointerSymbol("E")),
0.25 >> scalar,
PointerSymbol("E") >> pointer,
)
nengo.Connection(nengo.Node(lambda t: 1.5 < t <= 2.0), d_utility)
p_scalar = nengo.Probe(scalar.output, synapse=0.03)
p_pointer = nengo.Probe(pointer.output, synapse=0.03)
with Simulator(model) as sim:
sim.run(3.0)
t = sim.trange()
assert_allclose(sim.data[p_scalar][(0.3 < t) & (t <= 0.5)], 0.5, atol=0.2)
assert_sp_close(sim.trange(),
sim.data[p_pointer],
vocab["B"],
skip=0.8,
duration=0.2)
assert_sp_close(sim.trange(),
sim.data[p_pointer],
vocab["C"],
skip=1.3,
duration=0.2)
assert_sp_close(sim.trange(),
sim.data[p_pointer],
vocab["D"],
skip=1.8,
duration=0.2)
assert_allclose(sim.data[p_scalar][(2.3 < t) & (t <= 2.5)], 0.25, atol=0.2)
assert_sp_close(sim.trange(),
sim.data[p_pointer],
vocab["E"],
skip=2.3,
duration=0.2)
def test_routing(Simulator, seed, plt):
model = spa.Network(seed=seed)
model.config[spa.State].vocab = 3
model.config[spa.State].subdimensions = 3
with model:
model.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'
model.input = spa.Transcode(input_func, output_vocab=16)
model.buff1 = spa.State(label='buff1')
model.buff2 = spa.State(label='buff2')
model.buff3 = spa.State(label='buff3')
node1 = nengo.Node([0, 1, 0])
node2 = nengo.Node([0, 0, 1])
nengo.Connection(node1, model.buff1.input)
nengo.Connection(node2, model.buff2.input)
model.input >> model.ctrl
with spa.ActionSelection():
spa.ifmax(spa.dot(model.ctrl, spa.sym.A),
model.buff1 >> model.buff3)
spa.ifmax(spa.dot(model.ctrl, spa.sym.B),
model.buff2 >> model.buff3)
spa.ifmax(spa.dot(model.ctrl, spa.sym.C),
model.buff1 * model.buff2 >> model.buff3)
buff3_probe = nengo.Probe(model.buff3.output, synapse=0.03)
with Simulator(model) as sim:
sim.run(0.6)
data = sim.data[buff3_probe]
plt.plot(sim.trange(), data)
valueA = np.mean(data[150:200], axis=0) # should be [0, 1, 0]
valueB = np.mean(data[350:400], axis=0) # should be [0, 0, 1]
valueC = np.mean(data[550:600], axis=0) # should be [1, 0, 0]
assert valueA[0] < 0.2
assert valueA[1] > 0.7
assert valueA[2] < 0.2
assert valueB[0] < 0.2
assert valueB[1] < 0.2
assert valueB[2] > 0.7
assert valueC[0] > 0.7
assert valueC[1] < 0.2
assert valueC[2] < 0.2
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_dummy_action():
with spa.Network():
with spa.ActionSelection():
spa.ifmax(0)
spa.ifmax("named-dummy", 0)
with pytest.raises(ValueError):
spa.ifmax("must-provide-condition")
def __init__(self,
vocab,
label,
n_neurons_per_dim,
rng,
BG_bias,
BG_thr,
feedback,
sender=True,
receiver=True,
**kwargs):
super(ADDProcessor, self).__init__(input_vocab=vocab,
output_vocab=vocab,
label=label,
n_neurons_per_dim=n_neurons_per_dim,
mapping=['D2', 'D4', 'D6', 'D8'],
threshold=0,
feedback=feedback,
sender=sender,
receiver=receiver,
**kwargs)
with self:
# Domain specific processing
self.bind = spa.Bind(vocab, n_neurons_per_dim['Bind'])
with spa.Network() as self.result_controller:
self.result_controller.labels = []
with spa.ActionSelection() as self.result_controller.AS:
self.result_controller.labels.append("D0 -> D8")
spa.ifmax(self.result_controller.labels[-1],
BG_bias + spa.dot(s.D0, self.bind.output),
s.D8 >> self.AM.input)
self.result_controller.labels.append("D10 -> D2")
spa.ifmax(self.result_controller.labels[-1],
BG_bias + spa.dot(s.D10, self.bind.output),
s.D2 >> self.AM.input)
self.result_controller.labels.append("no cycle")
spa.ifmax(self.result_controller.labels[-1],
BG_bias + BG_thr, self.bind >> self.AM.input)
nengo.Connection(self.input.output, self.bind.input_left)
def test_thalamus(Simulator, plt, seed):
with spa.Network(seed=seed) as m:
m.vision = spa.State(vocab=16, neurons_per_dimension=80)
m.motor = spa.State(vocab=16, neurons_per_dimension=80)
with spa.ActionSelection():
spa.ifmax(spa.dot(m.vision, spa.sym.A), spa.sym.A >> m.motor)
spa.ifmax(spa.dot(m.vision, spa.sym.B), m.vision >> m.motor)
spa.ifmax(spa.dot(m.vision, ~spa.sym.A), ~m.vision >> m.motor)
def input_f(t):
if t < 0.1:
return 'A'
elif t < 0.3:
return 'B'
elif t < 0.5:
return '~A'
else:
return '0'
m.input = spa.Transcode(input_f, output_vocab=16)
m.input >> m.vision
p = nengo.Probe(m.motor.output, synapse=0.03)
with Simulator(m) as sim:
sim.run(0.5)
t = sim.trange()
data = m.motor.vocab.dot(sim.data[p].T)
plt.plot(t, data.T)
# Action 1
assert data[0, t == 0.1] > 0.8
assert data[1, t == 0.1] < 0.2
# Action 2
assert data[0, t == 0.3] < 0.2
assert data[1, t == 0.3] > 0.8
# Action 3
assert data[0, t == 0.5] > 0.8
assert data[1, t == 0.5] < 0.2
else:
return "0"
with spa.Network() as model:
utility = nengo.Node([0])
trigger = TwoStepsTrigger(50)
output_cmd = spa.Transcode(input_vocab=vocab, output_vocab=vocab)
with spa.ActionSelection():
spa.ifmax(
utility,
1 >> trigger.input
)
spa.ifmax(
.5,
)
POSITION = WM(100, vocab, label='position')
INCREMENT = WM(100, vocab, label='added')
nengo.Connection(POSITION.output, INCREMENT.input, transform=vocab.parse('D1').get_binding_matrix())
nengo.Connection(INCREMENT.output, POSITION.input)
with spa.ActionSelection():
spa.ifmax(trigger.output[0],
1 >> POSITION.gate,
def evaluate(self, p, plt):
stimuli = []
for i in range(p.n_stims):
stimuli.append(('NEUTRAL%d' % i, 'COLOR%d' % i, 'neutral'))
for i in range(p.n_stims):
stimuli.append(('COLOR%d' % i, 'COLOR%d' % i, 'congruent'))
for i in range(p.n_stims):
stimuli.append(('COLOR%d' % ((i + 1) % p.n_stims), 'COLOR%d' % i,
'incongruent'))
vocab = spa.Vocabulary(p.D,
pointer_gen=np.random.RandomState(seed=p.seed))
for i in range(p.n_stims):
vocab.populate('NEUTRAL%d' % i)
vocab.populate('COLOR%d' % i)
vocab.populate('COLOR; WORD')
model = spa.Network(seed=p.seed)
with model:
def word_func(t):
index = int(t / (p.t_stim + p.t_isi))
t = t % (p.t_stim + p.t_isi)
if t < p.t_isi:
return '0'
else:
return stimuli[index % len(stimuli)][0]
def color_func(t):
index = int(t / (p.t_stim + p.t_isi))
t = t % (p.t_stim + p.t_isi)
if t < p.t_isi:
return '0'
else:
return stimuli[index % len(stimuli)][1]
stim_w = spa.Transcode(word_func, output_vocab=vocab)
stim_c = spa.Transcode(color_func, output_vocab=vocab)
stim_a = spa.Transcode('(1-%g)*COLOR + %g*WORD' %
(p.attention_error, p.attention_error),
output_vocab=vocab)
wm = spa.State(vocab)
(spa.sym.COLOR * stim_c + spa.sym.WORD * stim_w) * ~stim_a >> wm
if p.auto_direct != 0:
stim_w * p.auto_direct >> wm
speech = spa.State(vocab)
if p.decision == 'bg':
with spa.ActionSelection() as action_sel:
for i in range(p.n_stims):
spa.ifmax(spa.dot(wm, spa.sym('COLOR%d' % i)),
spa.sym('COLOR%d' % i) >> speech)
spa.ifmax(0.35, spa.sym('0') >> speech)
elif p.decision == 'ia':
def reset_func(t):
index = int(t / (p.t_stim + p.t_isi))
t = t % (p.t_stim + p.t_isi)
if t < p.t_isi:
return 1
else:
return 0
reset = nengo.Node(reset_func)
decision = spa.IAAssocMem(
vocab,
mapping=['COLOR%d' % i for i in range(p.n_stims)],
accum_timescale=p.ia_accum_timescale)
wm >> decision
nengo.Connection(reset, decision.input_reset)
else:
raise Exception('Unknown decision param: %s' % p.decision)
if not p.use_neurons:
for ens in model.all_ensembles:
ens.neuron_type = nengo.Direct()
p_output = nengo.Probe(wm.output, synapse=0.02)
p_correct = nengo.Probe(stim_c.output)
p_speech = nengo.Probe(speech.output, synapse=0.02)
if p.decision == 'bg':
p_act = nengo.Probe(action_sel.thalamus.output, synapse=0.01)
elif p.decision == 'ia':
p_act = nengo.Probe(decision.selection.output, synapse=0.01)
sim = nengo.Simulator(model, progress_bar=p.verbose)
with sim:
sim.run(p.n_stims * (p.t_isi + p.t_stim) * 3)
v = np.einsum('ij,ij->i', sim.data[p_correct], sim.data[p_output])
steps = int((p.t_isi + p.t_stim) / sim.dt)
scores = v[steps - 2::steps]
data = sim.data[p_act]
rts = []
accuracy = []
for condition in range(3):
for i in range(p.n_stims):
t_start = (p.t_isi + p.t_stim) * i + p.t_isi + condition * (
p.t_isi + p.t_stim) * p.n_stims
t_end = t_start + p.t_stim
d = data[int(t_start / sim.dt):int(t_end / sim.dt), i]
correct = np.max(d) > p.output_threshold
if correct:
rt = np.where(d > p.output_threshold)[0][0] * sim.dt
else:
rt = None
rts.append(rt)
accuracy.append(correct)
if plt:
plt.subplot(2, 1, 1)
plt.plot(sim.trange(), sim.data[p_output].dot(vocab.vectors.T))
plt.subplot(2, 1, 2)
if p.decision == 'bg':
plt.plot(sim.trange(), sim.data[p_act][:, :-1])
elif p.decision == 'ia':
plt.plot(sim.trange(), sim.data[p_act])
for i in range(p.n_stims * 3):
plt.axvline(i * (p.t_isi + p.t_stim) + p.t_isi, ls='--')
acc_neutral = sum([0.0 if r is None else 1.0
for r in rts[:p.n_stims]]) / p.n_stims
acc_congruent = sum(
[0.0 if r is None else 1.0
for r in rts[p.n_stims:p.n_stims * 2]]) / p.n_stims
acc_incongruent = sum(
[0.0 if r is None else 1.0
for r in rts[p.n_stims * 2:]]) / p.n_stims
if acc_neutral == 0:
rt_neutral = None
else:
rt_neutral = np.mean([r for r in rts[:p.n_stims] if r is not None])
if acc_congruent == 0:
rt_congruent = None
else:
rt_congruent = np.mean(
[r for r in rts[p.n_stims:p.n_stims * 2] if r is not None])
if acc_incongruent == 0:
rt_incongruent = None
else:
rt_incongruent = np.mean(
[r for r in rts[p.n_stims * 2:] if r is not None])
return dict(
scores=scores,
stimuli=stimuli,
neutral=np.mean(scores[:p.n_stims]),
congruent=np.mean(scores[p.n_stims:p.n_stims * 2]),
incongruent=np.mean(scores[p.n_stims * 2:]),
rts=rts,
accuracy=accuracy,
rt_neutral=rt_neutral,
rt_congruent=rt_congruent,
rt_incongruent=rt_incongruent,
acc_neutral=acc_neutral,
acc_congruent=acc_congruent,
acc_incongruent=acc_incongruent,
)
# the vector associated with the currently requested vector
model.memory.recall = spa.State(vocab=vocab_dim)
with nengo.Network('motor') as model.motor:
# tells the motor system which disk to move (A, B, C)
model.motor.move_disk = spa.State(vocab=vocab_dim)
# tells the motor system where to move the disk to (A, B, C)
model.motor.move_peg = spa.State(vocab=vocab_dim)
# Table E.2 is used to define the spa rules for the Tower of Hanoi model
with nengo.Network('TOH Rules') as model.rules:
with spa.ActionSelection() as model.rules.action_sel:
spa.ifmax('LookDone',
-spa.dot(model.buffer.focus, spa.sym.D0) +
spa.dot(model.buffer.goal, model.buffer.focus) +
spa.dot(model.sensory.goal_current, model.buffer.goal_target) +
spa.dot(model.buffer.state, spa.sym.STORE),
model.buffer.goal * spa.sym.NEXT >> model.buffer.focus,
model.buffer.goal * spa.sym.NEXT >> model.buffer.goal,
model.sensory.goal_final >> model.buffer.goal_target)
spa.ifmax('LookNotDone',
-spa.dot(model.buffer.focus, spa.sym.D0) +
spa.dot(model.buffer.goal, model.buffer.focus) +
-spa.dot(model.sensory.goal_current, model.buffer.goal_target) +
spa.dot(model.buffer.state, spa.sym.STORE),
model.buffer.goal * spa.sym.NEXT >> model.buffer.focus)
spa.ifmax('InTheWay1',
-spa.dot(model.buffer.focus, model.buffer.goal) +
spa.dot(model.sensory.focus_peg, model.sensory.goal_current) +
-spa.dot(model.sensory.focus_peg, model.buffer.goal_target) +
-spa.dot(model.buffer.state, spa.sym.STORE),
model.buffer.goal * spa.sym.NEXT >> model.buffer.focus)
import nengo_spa as spa
s = spa.sym
model = spa.Network()
with model:
D = 32
memory = spa.State(D, label='memory', feedback=1)
with spa.ActionSelection():
spa.ifmax(memory @ s.A, s.B >> memory)
spa.ifmax(memory @ s.B, s.C >> memory)
spa.ifmax(memory @ s.C, s.D >> memory)
spa.ifmax(memory @ s.D, s.E >> memory)
spa.ifmax(memory @ s.E, s.A >> memory)
print('number of neurons:', model.n_neurons)
def toh_agent():
model = nengo.Network('ToH Agent')
with model:
env = nengo.Node()
# Table E.1 is used to define the spa states and subnetworks
# of the cortical elements for the Tower of Hanoi model
with nengo.Network('buffer') as model.buffer:
# used to control the different stages of the problem-solving algorithm
model.buffer.state = spa.State(vocab=vocab_dim)
# stores the disk currently being attended to (D0, D1, D2, D3)
model.buffer.focus = spa.State(vocab=vocab_dim)
# stores the disk we are trying to move (D0, D1, D2, D3)
model.buffer.goal = spa.State(vocab=vocab_dim)
# stores the location we want to move the goal disk to (A, B, C)
model.buffer.goal_target = spa.State(vocab=vocab_dim)
with nengo.Network('sensory') as model.sensory:
# automatically contains the location of the focus disk (A, B, C)
model.sensory.focus_peg = spa.State(vocab=vocab_dim)
# automatically contains the location of the goal disk (A, B, C)
model.sensory.goal_current = spa.State(vocab=vocab_dim)
# automatically contains the final desired location of the goal disk (A, B, C)
model.sensory.goal_final = spa.State(vocab=vocab_dim)
# automatically contains the largest visible disk (D3)
model.sensory.largest = spa.State(vocab=vocab_dim)
# automcatically contains DONE if the motor action is finished
model.sensory.motor = spa.State(vocab=vocab_dim)
with nengo.Network('memory') as model.memory:
# stores an association between mem1 and mem2 in working memory
model.memory.mem_1 = spa.State(vocab=vocab_dim)
# stores an association between mem1 and mem2 in working memory
model.memory.mem_2 = spa.State(vocab=vocab_dim)
# indicates one element of a pair to attempt to recall from working memory
model.memory.request = spa.State(vocab=vocab_dim)
# the vector associated with the currently requested vector
model.memory.recall = spa.State(vocab=vocab_dim)
with nengo.Network('motor') as model.motor:
# tells the motor system which disk to move (A, B, C)
model.motor.move_disk = spa.State(vocab=vocab_dim)
# tells the motor system where to move the disk to (A, B, C)
model.motor.move_peg = spa.State(vocab=vocab_dim)
# Table E.2 is used to define the spa rules for the Tower of Hanoi model
with nengo.Network('TOH Rules') as model.rules:
with spa.ActionSelection() as model.rules.action_sel:
spa.ifmax(
'LookDone', -spa.dot(model.buffer.focus, spa.sym.D0) +
spa.dot(model.buffer.goal, model.buffer.focus) + spa.dot(
model.sensory.goal_current, model.buffer.goal_target) +
spa.dot(model.buffer.state, spa.sym.STORE),
model.buffer.goal * spa.sym.NEXT >> model.buffer.focus,
model.buffer.goal * spa.sym.NEXT >> model.buffer.goal,
model.sensory.goal_final >> model.buffer.goal_target)
spa.ifmax(
'LookNotDone', -spa.dot(model.buffer.focus, spa.sym.D0) +
spa.dot(model.buffer.goal, model.buffer.focus) + -spa.dot(
model.sensory.goal_current, model.buffer.goal_target) +
spa.dot(model.buffer.state, spa.sym.STORE),
model.buffer.goal * spa.sym.NEXT >> model.buffer.focus)
spa.ifmax(
'InTheWay1',
-spa.dot(model.buffer.focus, model.buffer.goal) + spa.dot(
model.sensory.focus_peg, model.sensory.goal_current) +
-spa.dot(model.sensory.focus_peg, model.buffer.goal_target)
+ -spa.dot(model.buffer.state, spa.sym.STORE),
model.buffer.goal * spa.sym.NEXT >> model.buffer.focus)
spa.ifmax(
'InTheWay2',
-spa.dot(model.buffer.focus, model.buffer.goal) + -spa.dot(
model.sensory.focus_peg, model.sensory.goal_current) +
spa.dot(model.sensory.focus_peg, model.buffer.goal_target)
+ -spa.dot(model.buffer.state, spa.sym.STORE),
model.buffer.goal * spa.sym.NEXT >> model.buffer.focus)
spa.ifmax(
'NotInTheWay',
-spa.dot(model.buffer.focus, model.buffer.goal) + -spa.dot(
model.sensory.focus_peg, model.sensory.goal_current) +
-spa.dot(model.sensory.focus_peg, model.buffer.goal_target)
+ -spa.dot(model.buffer.focus, spa.sym.D0),
model.buffer.goal * spa.sym.NEXT >> model.buffer.focus)
spa.ifmax(
'MoveD0',
spa.dot(model.buffer.focus, spa.sym.D0) +
spa.dot(model.buffer.goal, spa.sym.D0) + -spa.dot(
model.sensory.goal_current, model.buffer.goal_target),
spa.sym.D0 >> model.motor.move_disk,
model.buffer.goal_target >> model.motor.move_peg)
spa.ifmax(
'MoveGoal',
spa.dot(model.buffer.focus, spa.sym.D0) +
-spa.dot(model.buffer.goal, spa.sym.D0) +
-spa.dot(model.sensory.focus_peg, model.buffer.goal_target)
+ -spa.dot(model.buffer.goal_target,
model.sensory.goal_current) +
-spa.dot(model.sensory.focus_peg,
model.sensory.goal_current),
model.buffer.goal >> model.motor.move_disk,
model.buffer.goal_target >> model.motor.move_peg)
spa.ifmax(
'MoveDone',
spa.dot(model.sensory.motor, spa.sym.DONE) +
-spa.dot(model.buffer.goal, model.sensory.largest) +
-spa.dot(model.buffer.state, spa.sym.RECALL),
spa.sym.RECALL >> model.buffer.state,
model.buffer.goal * ~spa.sym.NEXT >> model.buffer.goal)
spa.ifmax(
'MoveDone2',
spa.dot(model.sensory.motor, spa.sym.DONE) +
spa.dot(model.buffer.goal, model.sensory.largest) +
-spa.dot(model.buffer.state, spa.sym.RECALL),
model.sensory.largest * ~spa.sym.NEXT >>
model.buffer.focus,
model.sensory.largest * ~spa.sym.NEXT >> model.buffer.goal,
model.sensory.goal_final >> model.buffer.goal_target,
spa.sym.HANOI >> model.buffer.state)
spa.ifmax(
'Store',
spa.dot(model.buffer.state, spa.sym.STORE) +
-spa.dot(model.memory.recall, model.buffer.goal_target),
model.buffer.goal >> model.memory.mem_1,
model.buffer.goal_target >> model.memory.mem_2,
model.buffer.goal >> model.memory.request)
spa.ifmax(
'StoreDone',
spa.dot(model.buffer.state, spa.sym.STORE) +
spa.dot(model.memory.recall, model.buffer.goal_target),
spa.sym.FIND >> model.buffer.state)
spa.ifmax(
'FindFree1',
spa.dot(model.buffer.state, spa.sym.FIND) +
-spa.dot(model.buffer.focus, model.buffer.goal) + spa.dot(
model.sensory.focus_peg, model.sensory.goal_current) +
-spa.dot(model.sensory.focus_peg,
model.buffer.goal_target),
spa.sym.A + spa.sym.B + spa.sym.C - model.sensory.focus_peg
- model.buffer.goal_target >> model.buffer.goal_target,
model.buffer.focus >> model.buffer.goal,
spa.sym.HANOI >> model.buffer.state)
spa.ifmax(
'FindFree2',
spa.dot(model.buffer.state, spa.sym.FIND) +
-spa.dot(model.buffer.focus, model.buffer.goal) + -spa.dot(
model.sensory.focus_peg, model.sensory.goal_current) +
spa.dot(model.sensory.focus_peg, model.buffer.goal_target),
spa.sym.A + spa.sym.B + spa.sym.C -
model.sensory.goal_current - model.buffer.goal_target >>
model.buffer.goal_target,
model.buffer.focus >> model.buffer.goal,
spa.sym.HANOI >> model.buffer.state)
spa.ifmax(
'Recall',
spa.dot(model.buffer.state, spa.sym.RECALL) +
-spa.dot(model.memory.recall,
spa.sym.A + spa.sym.B + spa.sym.C),
model.buffer.goal >> model.memory.request)
spa.ifmax(
'RecallDo',
spa.dot(model.buffer.state, spa.sym.RECALL) +
spa.dot(model.memory.recall,
spa.sym.A + spa.sym.B + spa.sym.C) +
-spa.dot(model.memory.recall, model.sensory.goal_current),
spa.sym.HANOI >> model.buffer.state,
model.buffer.goal >> model.buffer.focus,
4 * model.memory.recall >> model.buffer.goal_target)
spa.ifmax(
'RecallNext',
spa.dot(model.buffer.state, spa.sym.RECALL) +
spa.dot(model.memory.recall,
spa.sym.A + spa.sym.B + spa.sym.C) +
spa.dot(model.memory.recall, model.sensory.goal_current),
spa.sym.HANOI >> model.buffer.state,
model.buffer.goal * ~spa.sym.NEXT >> model.buffer.goal,
model.buffer.goal >> model.memory.request)
return model
import nengo_spa as spa
s = spa.sym
model = spa.Network()
with model:
D = 32
vision = spa.State(D, label='vision')
speech = spa.State(D, label='speech')
with spa.ActionSelection():
spa.ifmax(vision @ s.DOG, s.BARK >> speech)
spa.ifmax(vision @ s.CAT, s.MEOW >> speech)
spa.ifmax(vision @ s.RAT, s.SQUEAK >> speech)
spa.ifmax(vision @ s.COW, s.MOO >> speech)
spa.ifmax(0.5, s.UNKNOWN >> speech)
print('number of neurons:', model.n_neurons)
def test_scalar_product():
with spa.Network() as model:
model.scalar = spa.Scalar()
with spa.ActionSelection():
spa.ifmax(model.scalar * model.scalar, 1 >> model.scalar)
def test_spa_connections_to_utilities():
with spa.Network():
with ActionSelection():
utility = spa.ifmax(0.0)
0.1 >> utility
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)
PRIM >> SET_PRIM
input_INSTRUCTIONS >> PRIM.input_left
spa.translate(clean_POS, vocab) >> PRIM.input_right
SET_exec = spa.Transcode(input_vocab=vocab, output_vocab=vocab)
GET_exec = spa.Transcode(input_vocab=vocab, output_vocab=vocab)
# GET selector
with spa.Network(label='GET selector') as GET_selector:
GET_selector.labels = []
with spa.ActionSelection() as GET_selector.AS:
GET_selector.labels.append("GET V (FIXATE)")
spa.ifmax(GET_selector.labels[-1], BG_bias + FIXATE_detector,
V.preconscious >> GW.AMs[V].input, s.D1 >> POS.input,
s.D1 * clean_POS >> INCREMENT.input)
# GET_selector.labels.append("GET V")
# spa.ifmax(GET_selector.labels[-1], BG_bias + spa.dot(GET_PRIM, s.GET_V) * (1-spa.dot(GET_exec, s.GET_V)),
# s.GET_V >> GET_exec,
# 1 >> POS.gate,
# )
GET_selector.labels.append("GET ADD")
spa.ifmax(
GET_selector.labels[-1], BG_bias +
spa.dot(GET_PRIM, s.GET_ADD) * (1 - GW.detectors[ADD]),
ADD.preconscious >> GW.AMs[ADD].input, 1 >> POS.gate,
s.D1 * clean_POS >> INCREMENT.input)
def test_new_action_syntax(Simulator, seed, plt, rng):
model = spa.Network(seed=seed)
model.config[spa.State].vocab = 3
model.config[spa.State].subdimensions = 3
with model:
model.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"
model.input = spa.Transcode(input_func, output_vocab=16)
model.state = spa.State(label="state")
model.buff1 = spa.State(label="buff1")
model.buff2 = spa.State(label="buff2")
model.buff3 = spa.State(label="buff3")
node1 = nengo.Node([0, 1, 0])
node2 = nengo.Node([0, 0, 1])
nengo.Connection(node1, model.buff1.input)
nengo.Connection(node2, model.buff2.input)
model.input >> model.ctrl
model.buff1 >> model.state
with spa.ActionSelection():
spa.ifmax(spa.dot(model.ctrl, spa.sym.A),
model.buff1 >> model.buff3)
spa.ifmax(spa.dot(model.ctrl, spa.sym.B),
model.buff2 >> model.buff3)
spa.ifmax(spa.dot(model.ctrl, spa.sym.C),
model.buff1 * model.buff2 >> model.buff3)
state_probe = nengo.Probe(model.state.output, synapse=0.03)
buff3_probe = nengo.Probe(model.buff3.output, synapse=0.03)
with Simulator(model) as sim:
sim.run(0.6)
data = sim.data[buff3_probe]
plt.plot(sim.trange(), data)
state_val = np.mean(sim.data[state_probe][200:], axis=0)
assert state_val[0] < 0.2
assert state_val[1] > 0.8
assert state_val[2] < 0.2
valueA = np.mean(data[150:200], axis=0) # should be [0, 1, 0]
valueB = np.mean(data[350:400], axis=0) # should be [0, 0, 1]
valueC = np.mean(data[550:600], axis=0) # should be [1, 0, 0]
assert valueA[0] < 0.2
assert valueA[1] > 0.75
assert valueA[2] < 0.2
assert valueB[0] < 0.2
assert valueB[1] < 0.2
assert valueB[2] > 0.75
assert valueC[0] > 0.75
assert valueC[1] < 0.2
assert valueC[2] < 0.2
stim_cue >> pfcCUE
motorClean = spa.WTAAssocMem(threshold=0.1,
input_vocab=vocab,
output_vocab=vocab,
mapping=movesMap,
function=lambda x: 1 if x > 0.1 else 0,
label='motorClean')
nengo.Connection(mdRULE.output,
pfcRULEmemo.input,
transform=5,
synapse=0.05)
with spa.ActionSelection() as act_sel:
spa.ifmax(spa.dot(pfcRULEasso, s.AUD), s.AUD >> mdRULE)
spa.ifmax(spa.dot(pfcRULEasso, s.VIS), s.VIS >> mdRULE)
spa.ifmax(spa.dot(stim_target, s.AUD * s.RIGHT + s.VIS * s.LEFT),
stim_target * ~pfcRULEmemo >> motorClean)
spa.ifmax(spa.dot(stim_target, s.VIS * s.RIGHT + s.AUD * s.LEFT),
stim_target * ~pfcRULEmemo >> motorClean)
# learning
mdCUE_ens = list(mdCUE.all_ensembles)
mdRULE_ens = list(mdRULE.all_ensembles)
ppc_ens = list(ppc.all_ensembles)
errorPPC_ens = list(errorPPC.all_ensembles)
-ppc >> errorPPC
mdCUE >> errorPPC
for i, ppc_e in enumerate(ppc_ens):
# state representation of input
target = spa.State(D, label='Target')
cue = spa.State(D, label='Cue')
motor = spa.State(dims, feedback = 1, label = 'motor')
# Connect to repreesentation of inputs
target_in >> target
cue_in >> cue
# pfc
pfc = spa.State(dims, feedback = pfcFB, label = 'pfc')
vocab = pfc.vocab
vocab.add('RULE1', vocab.parse('CUE_A+CUE_C'))
vocab.add('RULE2', vocab.parse('CUE_B+CUE_D'))
vocab.add('CONTEXT1', vocab.parse('CUE_A+CUE_B'))
vocab.add('CONTEXT2', vocab.parse('CUE_C+CUE_D'))
cue >> pfc
with spa.ActionSelection():
spa.ifmax( 0.5, s.X*0 >> pfc)
spa.ifmax( 0.8*spa.dot(pfc, s.RULE1) + 0.8*spa.dot(target, s.LIGHT*(s.RIGHT+s.LEFT)),
target*~s.LIGHT >> motor )
spa.ifmax( 0.8*spa.dot(pfc, s.RULE2) + 0.8*spa.dot(target, s.SOUND*(s.RIGHT+s.LEFT)),
target*~s.SOUND >> motor )
md = spa.WTAAssocMem(threshold = 0.5, input_vocab = pfc.vocab, mapping = map, label = 'MD')
pfc >> md
md*0.8 >> pfc
vocab2.add( 'CONTEXT1', vocab2.parse('CUE_A+CUE_B') )
vocab2.add( 'CONTEXT2', vocab2.parse('CUE_C+CUE_D') )
vocab = pfc.vocab
vocab.add( 'RULE1', vocab.parse('CUE_A+CUE_C') )
vocab.add( 'RULE2', vocab.parse('CUE_B+CUE_D') )
# # ppc has cue history (perfect memory), assume direct sensory inputs
# stim_cues >> ppc
# # pfc gets inputs from cue responding "population"
cues >> pfc
stim_cues >> ppc
with spa.ActionSelection():
spa.ifmax( 0.5, s.X*0 >> pfc)
spa.ifmax( 0.8*spa.dot(pfc, s.RULE1) + 0.8*spa.dot(targets, s.VIS*(s.RIGHT+s.LEFT)),
targets*~s.VIS >> motor )
spa.ifmax( 0.8*spa.dot(pfc, s.RULE2) + 0.8*spa.dot(targets, s.AUD*(s.RIGHT+s.LEFT)),
targets*~s.AUD >> motor )
# md = spa.WTAAssocMem(threshold = 0.5,mapping=map, input_vocab = pfc.vocab, label = 'MD')
# learn pfc --> md computation
md >> error
-pfc >> error
md_ens = list(md.all_ensembles)
# pfc_ens = list(pfc.all_ensembles)
error_ens = list(error.all_ensembles)
error2_ens = list(error2.all_ensembles)
stim_cue >> ppc
stim_cue >> pfcCUE
motorClean = spa.WTAAssocMem(threshold=0.1,
input_vocab=vocab,
mapping=movesMap,
function=lambda x: x > 0,
label='motorClean')
nengo.Connection(mdRULE.output,
pfcRULEmemo.input,
transform=5,
synapse=0.05)
with spa.ActionSelection():
spa.ifmax(0.3 * spa.dot(s.NOTHING, pfcCUE), s.NOTHING >> pfcRULEmemo)
spa.ifmax(spa.dot(s.CUE_A + s.CUE_C, pfcCUE), s.VIS >> pfcRULE)
spa.ifmax(spa.dot(s.CUE_B + s.CUE_D, pfcCUE), s.AUD >> pfcRULE)
spa.ifmax(spa.dot(pfcRULEasso, s.AUD), s.AUD >> mdRULE)
spa.ifmax(spa.dot(pfcRULEasso, s.VIS), s.VIS >> mdRULE)
spa.ifmax(spa.dot(stim_target, s.AUD * s.RIGHT + s.VIS * s.LEFT),
stim_target * ~pfcRULEmemo >> motorClean)
spa.ifmax(spa.dot(stim_target, s.VIS * s.RIGHT + s.AUD * s.LEFT),
stim_target * ~pfcRULEmemo >> motorClean)
# learning
mdCUE_ens = list(mdCUE.all_ensembles)
mdRULE_ens = list(mdRULE.all_ensembles)
ppc_ens = list(ppc.all_ensembles)
