515 lines
23 KiB
C++
515 lines
23 KiB
C++
// Object recognition entirely in KNP with AltAI neurons: retina → learned feature detectors → readout.
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//
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// altai_objects features <patches.bin> <count> <K> <out_weights.bin> <backend.so>
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// Learns K feature detectors on 12×12 RGB crops (uint8, 3×12×12 each). Network: pixels → retina (fixed
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// ON/OFF centre–surround neurons, 6 maps 6×6) → K competing AltAI neurons with trainable synapses. Each
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// detector inhibits the others and its own spike gives it dopamine, so only winners learn; with the delta
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// backend (KNP_DELTA_RULE, KNP_DELTA_DECAY, KNP_DELTA_LAG) the winner moves its weights towards the input.
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// Writes float32 weights [K][216] (retina channel, y, x order).
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//
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// altai_objects run <images.bin> <labels.txt> <train> <eval> <features.bin> <K> <classes> <backend.so> <prefix>
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// Full network: pixels (3×32×32) → retina (6×32×32) → detectors (K per position, stride 2, weights from
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// features.bin minus their mean, integers) → readout (one neuron per class, delta-rule training with the
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// label dopamine +a every active step and own-spike dopamine −b, KNP_DELTA=a,b). After <train> images the
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// readout weights are read back from the backend and fixed; then <eval> images are run with a plain AltAI
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// readout. Writes <prefix>_readout.bin (float32 [classes][neurons]) and <prefix>_eval.csv
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// (index,label,spike counts per class).
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//
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// Environment: KNP_RETINA_THR (default 250), KNP_DET_THR (detector threshold, default 2000),
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// KNP_OUT_THR (readout threshold, default 4000), KNP_INHIB (detector lateral inhibition, default 5000).
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#include <knp/framework/model_executor.h>
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#include <knp/framework/network.h>
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#include <knp/neuron-traits/altai_lif.h>
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#include <knp/synapse-traits/delta.h>
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#include <knp/synapse-traits/stdp_synaptic_resource_rule.h>
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#include <chrono>
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#include <cmath>
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#include <fstream>
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#include <iostream>
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#include <map>
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#include <numeric>
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#include <random>
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#include <string>
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#include <vector>
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using DeltaSynapse = knp::synapse_traits::DeltaSynapse;
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using DeltaProjection = knp::core::Projection<DeltaSynapse>;
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using ResourceSynapse = knp::synapse_traits::SynapticResourceSTDPDeltaSynapse;
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using ResourceProjection = knp::core::Projection<ResourceSynapse>;
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using AltAINeuron = knp::neuron_traits::AltAILIF;
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using StdpNeuron = knp::neuron_traits::SynapticResourceSTDPAltAILIFNeuron;
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using AltAIPopulation = knp::core::Population<AltAINeuron>;
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using StdpPopulation = knp::core::Population<StdpNeuron>;
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constexpr int steps_per_image = 15, active_steps = 10, patch = 6, dog_r = 3, maps = 6;
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constexpr float w_min = -253.122F, w_max = 92.3957F;
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float env_f(const char *name, float def)
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{
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const char *v = std::getenv(name);
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return v ? std::stof(v) : def;
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}
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std::vector<float> env_list(const char *name, std::vector<float> def)
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{
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const char *v = std::getenv(name);
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if (!v) return def;
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std::vector<float> out;
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std::string s(v);
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size_t pos = 0;
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while (pos <= s.size())
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{
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size_t next = s.find(',', pos);
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if (next == std::string::npos) next = s.size();
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out.push_back(std::stof(s.substr(pos, next - pos)));
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pos = next + 1;
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}
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return out;
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}
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// Difference of Gaussians, sigma 0.5 and 1.5, 7×7, scaled by 1000 (as in altai-objects/retina_proto.py).
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std::vector<float> dog_kernel()
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{
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auto gauss = [](float sigma)
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{
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std::vector<float> g((2 * dog_r + 1) * (2 * dog_r + 1));
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float sum = 0;
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for (int y = -dog_r; y <= dog_r; ++y)
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for (int x = -dog_r; x <= dog_r; ++x)
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sum += g[(y + dog_r) * (2 * dog_r + 1) + x + dog_r] = std::exp(-(x * x + y * y) / (2 * sigma * sigma));
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for (auto &v : g) v /= sum;
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return g;
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};
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auto a = gauss(0.5F), b = gauss(1.5F);
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std::vector<float> d(a.size());
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for (size_t i = 0; i < a.size(); ++i) d[i] = std::round((a[i] - b[i]) * 1000);
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return d;
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}
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float resource_from_weight(float w)
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{
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const double diff = w_max - w_min, over = w - w_min;
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return static_cast<float>(diff * over / (diff - over));
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}
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knp::neuron_traits::neuron_parameters<AltAINeuron> plain_neuron(float threshold)
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{
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knp::neuron_traits::neuron_parameters<AltAINeuron> p;
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p.activation_threshold_ = static_cast<uint16_t>(std::min(threshold, 65535.F));
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p.negative_activation_threshold_ = 0;
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p.potential_reset_value_ = 0;
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p.potential_leak_ = 0;
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return p;
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}
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knp::neuron_traits::neuron_parameters<StdpNeuron> learning_neuron(float threshold)
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{
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knp::neuron_traits::neuron_parameters<StdpNeuron> p;
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p.activation_threshold_ = static_cast<uint16_t>(std::min(threshold, 65535.F));
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p.negative_activation_threshold_ = 0;
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p.potential_reset_value_ = 0;
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p.potential_leak_ = 0;
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p.dopamine_plasticity_time_ = 10;
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p.isi_max_ = 10;
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p.d_h_ = 0;
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p.stability_change_parameter_ = 0;
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p.synapse_sum_threshold_coefficient_ = 0;
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return p;
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}
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// Retina projection: input channel (pixels c×h×w) → retina population (maps×oh×ow): ON map c uses +DoG,
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// OFF map c uses −DoG around pixel (oy + off, ox + off) of channel c; taps outside the image are skipped.
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DeltaProjection make_retina(const knp::core::UID &post, int h, int w, int oh, int ow, int off)
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{
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const auto dog = dog_kernel();
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const int taps = (2 * dog_r + 1) * (2 * dog_r + 1);
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std::vector<DeltaProjection::Synapse> synapses;
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for (int m = 0; m < maps; ++m)
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for (int oy = 0; oy < oh; ++oy)
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for (int ox = 0; ox < ow; ++ox)
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for (int t = 0; t < taps; ++t)
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{
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const int y = oy + off + t / (2 * dog_r + 1) - dog_r, x = ox + off + t % (2 * dog_r + 1) - dog_r;
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if (y < 0 || y >= h || x < 0 || x >= w || dog[t] == 0) continue;
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const int c = m % 3;
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const float weight = m < 3 ? dog[t] : -dog[t];
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synapses.push_back(DeltaProjection::Synapse{
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{weight, 1, knp::synapse_traits::OutputType::EXCITATORY},
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static_cast<size_t>(c * h * w + y * w + x), static_cast<size_t>((m * oh + oy) * ow + ox)});
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}
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return DeltaProjection(
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knp::core::UID{false}, post, [&](size_t i) { return std::optional(synapses[i]); }, synapses.size());
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}
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// Spike raster of an image (uint8 values), incrementing converter from rest, active steps only.
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std::vector<knp::core::messaging::SpikeData> raster(const uint8_t *px, size_t n)
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{
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std::vector<knp::core::messaging::SpikeData> out(active_steps);
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std::vector<float> st(n, 0.F);
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for (int t = 0; t < active_steps; ++t)
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for (size_t i = 0; i < n; ++i)
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{
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st[i] += px[i] / 255.F;
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if (st[i] >= 1.F)
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{
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st[i] -= 1.F;
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out[t].push_back(static_cast<uint32_t>(i));
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}
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}
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return out;
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}
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std::vector<uint8_t> read_bin(const std::string &path)
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{
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std::ifstream f(path, std::ios::binary);
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return std::vector<uint8_t>((std::istreambuf_iterator<char>(f)), std::istreambuf_iterator<char>());
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}
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// Read the trainable projection back from the backend: float weights [post][pre-index-in-population].
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template <class Backend>
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std::vector<float> trained_weights(Backend &backend, const knp::core::UID &proj_uid, size_t pre_n, size_t post_n)
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{
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std::vector<float> w(pre_n * post_n, 0.F);
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auto data = backend->get_network_data();
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for (auto &it = *data.projection_range.first; it != *data.projection_range.second; ++it)
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{
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auto proj = *it;
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std::visit(
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[&](auto &p)
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{
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using P = std::decay_t<decltype(p)>;
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if constexpr (std::is_same_v<P, ResourceProjection>)
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if (p.get_uid() == proj_uid)
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for (const auto &s : p)
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w[std::get<2>(s) * pre_n + std::get<1>(s)] = std::get<knp::core::synapse_data>(s).weight_;
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},
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proj);
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}
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return w;
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}
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int features_mode(int argc, const char *const argv[])
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{
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const std::string patches_path = argv[2], out_path = argv[5], backend_path = argv[6];
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const size_t count = std::stoul(argv[3]), k = std::stoul(argv[4]);
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constexpr int crop = 12, in_n = 3 * crop * crop, ret_n = maps * patch * patch;
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const auto px = read_bin(patches_path);
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if (px.size() < count * in_n) throw std::runtime_error("not enough patches");
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AltAIPopulation retina([&](size_t) { return plain_neuron(env_f("KNP_RETINA_THR", 250)); }, ret_n);
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StdpPopulation detectors([&](size_t) { return learning_neuron(env_f("KNP_DET_THR", 2000)); }, k);
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auto retina_proj = make_retina(retina.get_uid(), crop, crop, patch, patch, dog_r);
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std::mt19937 rng(static_cast<unsigned>(env_f("KNP_SEED", 1)));
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std::uniform_real_distribution<float> init(0.F, env_f("KNP_INIT_W", 30));
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std::vector<ResourceProjection::Synapse> learn_syn;
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for (size_t j = 0; j < k; ++j)
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for (size_t i = 0; i < ret_n; ++i)
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{
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knp::synapse_traits::synapse_parameters<ResourceSynapse> s;
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s.rule_.w_min_ = w_min;
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s.rule_.w_max_ = w_max;
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s.rule_.dopamine_plasticity_period_ = 10;
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s.weight_ = init(rng);
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s.rule_.synaptic_resource_ = resource_from_weight(s.weight_);
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s.delay_ = 1;
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s.output_type_ = knp::synapse_traits::OutputType::EXCITATORY;
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learn_syn.push_back(ResourceProjection::Synapse{s, i, j});
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}
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ResourceProjection learn_proj(
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retina.get_uid(), detectors.get_uid(), [&](size_t i) { return std::optional(learn_syn[i]); },
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learn_syn.size());
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learn_proj.unlock_weights();
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// Lateral inhibition and own-spike reward.
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const float inhib = env_f("KNP_INHIB", 5000), reward = env_f("KNP_WTA_REWARD", 1);
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DeltaProjection lateral(
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detectors.get_uid(), detectors.get_uid(),
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[&](size_t i) -> std::optional<DeltaProjection::Synapse>
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{
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const size_t pre = i / k, post = i % k;
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if (pre == post)
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return DeltaProjection::Synapse{{reward, 1, knp::synapse_traits::OutputType::DOPAMINE}, pre, post};
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return DeltaProjection::Synapse{{-inhib, 1, knp::synapse_traits::OutputType::EXCITATORY}, pre, post};
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},
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k * k);
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const auto retina_uid = retina_proj.get_uid(), learn_uid = learn_proj.get_uid(), det_uid = detectors.get_uid();
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knp::framework::Network network;
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network.add_population(std::move(retina));
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network.add_population(std::move(detectors));
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network.add_projection(std::move(retina_proj));
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network.add_projection(std::move(learn_proj));
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network.add_projection(std::move(lateral));
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knp::core::UID in_channel, out_channel;
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knp::framework::Model model(std::move(network));
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model.add_input_channel(in_channel, retina_uid);
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model.add_output_channel(out_channel, det_uid);
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std::vector<knp::core::messaging::SpikeData> current;
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auto input_gen = [&](knp::core::Step step) -> knp::core::messaging::SpikeData
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{
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const size_t img = step / steps_per_image, local = step % steps_per_image;
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if (local == 0) current = raster(px.data() + img * in_n, in_n);
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if (local >= active_steps) return {};
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return current[local];
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};
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knp::framework::BackendLoader loader;
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auto backend = loader.load(backend_path);
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knp::framework::ModelExecutor executor(model, backend, {{in_channel, input_gen}});
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auto &out = executor.get_loader().get_output_channel(out_channel);
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const auto t0 = std::chrono::steady_clock::now();
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executor.start([&](size_t step) { return step < count * steps_per_image; });
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std::vector<size_t> wins(k, 0);
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for (const auto &m : out.update())
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for (auto i : m.neuron_indexes_) ++wins[i];
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auto w = trained_weights(backend, learn_uid, ret_n, k);
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std::ofstream(out_path, std::ios::binary).write(reinterpret_cast<const char *>(w.data()), w.size() * 4);
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size_t used = 0;
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for (auto v : wins) used += v > 0;
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std::cout << "features: " << count << " patches, " << k << " detectors, "
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<< std::chrono::duration<double>(std::chrono::steady_clock::now() - t0).count() << " s; detectors that "
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<< "fired: " << used << "; spikes in last batch: " << std::accumulate(wins.begin(), wins.end(), 0UL)
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<< std::endl;
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return 0;
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}
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int run_mode(int argc, const char *const argv[])
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{
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const std::string images_path = argv[2], labels_path = argv[3], feat_path = argv[6], backend_path = argv[9],
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prefix = argv[10];
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const size_t train = std::stoul(argv[4]), eval = std::stoul(argv[5]), k = std::stoul(argv[7]),
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classes = std::stoul(argv[8]);
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constexpr int side = 32, in_n = 3 * side * side, ret_side = side, ret_n = maps * side * side, stride = 2;
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constexpr int per_side = (side - patch) / stride + 1, positions = per_side * per_side, fan_in = maps * patch * patch;
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const size_t det_n = k * positions;
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const auto px = read_bin(images_path);
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std::vector<size_t> labels;
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{
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std::ifstream f(labels_path);
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for (size_t v; f >> v;) labels.push_back(v);
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}
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// Detector weights: learned prototypes minus their mean, scaled to integers in ±KNP_DET_WMAX.
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std::vector<float> proto(k * fan_in);
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{
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std::ifstream f(feat_path, std::ios::binary);
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f.read(reinterpret_cast<char *>(proto.data()), proto.size() * 4);
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}
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std::vector<float> mean(fan_in, 0.F);
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for (size_t j = 0; j < k; ++j)
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for (int i = 0; i < fan_in; ++i) mean[i] += proto[j * fan_in + i] / k;
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float max_abs = 1e-6F;
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for (size_t j = 0; j < k; ++j)
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for (int i = 0; i < fan_in; ++i) max_abs = std::max(max_abs, std::fabs(proto[j * fan_in + i] - mean[i]));
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const float det_wmax = env_f("KNP_DET_WMAX", 127);
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std::vector<float> det_w(k * fan_in);
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for (size_t j = 0; j < k; ++j)
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for (int i = 0; i < fan_in; ++i)
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det_w[j * fan_in + i] = std::round((proto[j * fan_in + i] - mean[i]) / max_abs * det_wmax);
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const float out_thr = env_f("KNP_OUT_THR", 4000);
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auto build = [&](bool learning, const std::vector<float> &readout_w, knp::core::UID &image_proj_uid,
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knp::core::UID &label_proj_uid, knp::core::UID &readout_proj_uid, knp::core::UID &out_uid)
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{
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AltAIPopulation retina([&](size_t) { return plain_neuron(env_f("KNP_RETINA_THR", 250)); }, ret_n);
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AltAIPopulation detectors([&](size_t) { return plain_neuron(env_f("KNP_DET_THR", 2000)); }, det_n);
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auto retina_proj = make_retina(retina.get_uid(), side, side, ret_side, ret_side, 0);
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// Detector index = proto * positions + position; synapse index = detector * fan_in + element.
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DeltaProjection det_proj(
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retina.get_uid(), detectors.get_uid(),
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[&](size_t index) -> std::optional<DeltaProjection::Synapse>
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{
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const size_t neuron = index / fan_in, e = index % fan_in;
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const size_t j = neuron / positions, pos = neuron % positions;
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const int py = static_cast<int>(pos / per_side) * stride, pxx = static_cast<int>(pos % per_side) * stride;
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const int m = static_cast<int>(e / (patch * patch)), dy = static_cast<int>(e % (patch * patch)) / patch,
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dx = static_cast<int>(e % patch);
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const float weight = det_w[j * fan_in + e];
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if (weight == 0) return std::nullopt;
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return DeltaProjection::Synapse{
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{weight, 1, knp::synapse_traits::OutputType::EXCITATORY},
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static_cast<size_t>((m * ret_side + py + dy) * ret_side + pxx + dx), neuron};
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},
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det_n * fan_in);
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image_proj_uid = retina_proj.get_uid();
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knp::framework::Network network;
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if (learning)
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{
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StdpPopulation readout([&](size_t) { return learning_neuron(out_thr); }, classes);
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ResourceProjection rproj(
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detectors.get_uid(), readout.get_uid(),
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[&](size_t i) -> std::optional<ResourceProjection::Synapse>
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{
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knp::synapse_traits::synapse_parameters<ResourceSynapse> s;
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s.rule_.w_min_ = w_min;
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s.rule_.w_max_ = w_max;
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s.rule_.dopamine_plasticity_period_ = 10;
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s.weight_ = 0;
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s.rule_.synaptic_resource_ = resource_from_weight(0);
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s.delay_ = 1;
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s.output_type_ = knp::synapse_traits::OutputType::EXCITATORY;
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return ResourceProjection::Synapse{s, i % det_n, i / det_n};
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},
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det_n * classes);
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rproj.unlock_weights();
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const auto delta = env_list("KNP_DELTA", {1, 4});
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DeltaProjection label_proj(
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knp::core::UID{false}, readout.get_uid(),
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[&](size_t i) {
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return std::optional(DeltaProjection::Synapse{
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{delta[0], 1, knp::synapse_traits::OutputType::DOPAMINE}, i, i});
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},
|
||
classes);
|
||
DeltaProjection self_proj(
|
||
readout.get_uid(), readout.get_uid(),
|
||
[&](size_t i) {
|
||
return std::optional(DeltaProjection::Synapse{
|
||
{-delta[1], 1, knp::synapse_traits::OutputType::DOPAMINE}, i, i});
|
||
},
|
||
classes);
|
||
label_proj_uid = label_proj.get_uid();
|
||
readout_proj_uid = rproj.get_uid();
|
||
out_uid = readout.get_uid();
|
||
network.add_population(std::move(readout));
|
||
network.add_projection(std::move(rproj));
|
||
network.add_projection(std::move(label_proj));
|
||
network.add_projection(std::move(self_proj));
|
||
}
|
||
else
|
||
{
|
||
AltAIPopulation readout([&](size_t) { return plain_neuron(out_thr); }, classes);
|
||
DeltaProjection rproj(
|
||
detectors.get_uid(), readout.get_uid(),
|
||
[&](size_t i) -> std::optional<DeltaProjection::Synapse>
|
||
{
|
||
const float weight = readout_w[(i / det_n) * det_n + i % det_n];
|
||
if (weight == 0) return std::nullopt;
|
||
return DeltaProjection::Synapse{
|
||
{weight, 1, knp::synapse_traits::OutputType::EXCITATORY}, i % det_n, i / det_n};
|
||
},
|
||
det_n * classes);
|
||
out_uid = readout.get_uid();
|
||
network.add_population(std::move(readout));
|
||
network.add_projection(std::move(rproj));
|
||
}
|
||
network.add_population(std::move(retina));
|
||
network.add_population(std::move(detectors));
|
||
network.add_projection(std::move(retina_proj));
|
||
network.add_projection(std::move(det_proj));
|
||
return network;
|
||
};
|
||
|
||
std::vector<knp::core::messaging::SpikeData> current;
|
||
auto image_gen = [&](size_t first)
|
||
{
|
||
return [&, first](knp::core::Step step) -> knp::core::messaging::SpikeData
|
||
{
|
||
const size_t img = first + step / steps_per_image, local = step % steps_per_image;
|
||
if (local == 0) current = raster(px.data() + img * in_n, in_n);
|
||
if (local >= active_steps) return {};
|
||
return current[local];
|
||
};
|
||
};
|
||
knp::framework::BackendLoader loader;
|
||
std::vector<float> readout_w(det_n * classes, 0.F);
|
||
if (train > 0)
|
||
{
|
||
knp::core::UID image_proj, label_proj, readout_proj, out_uid;
|
||
knp::framework::Model model(build(true, readout_w, image_proj, label_proj, readout_proj, out_uid));
|
||
knp::core::UID in_channel, label_channel;
|
||
model.add_input_channel(in_channel, image_proj);
|
||
model.add_input_channel(label_channel, label_proj);
|
||
auto label_gen = [&](knp::core::Step step) -> knp::core::messaging::SpikeData
|
||
{
|
||
if (step % steps_per_image >= active_steps) return {};
|
||
return {static_cast<uint32_t>(labels[step / steps_per_image])};
|
||
};
|
||
auto backend = loader.load(backend_path);
|
||
knp::framework::ModelExecutor executor(model, backend, {{in_channel, image_gen(0)}, {label_channel, label_gen}});
|
||
const auto t0 = std::chrono::steady_clock::now();
|
||
executor.start(
|
||
[&](size_t step)
|
||
{
|
||
if (step % (1000 * steps_per_image) == 0 && step)
|
||
std::cout << "trained " << step / steps_per_image << " images, "
|
||
<< std::chrono::duration<double>(std::chrono::steady_clock::now() - t0).count() << " s"
|
||
<< std::endl;
|
||
return step < train * steps_per_image;
|
||
});
|
||
readout_w = trained_weights(backend, readout_proj, det_n, classes);
|
||
std::ofstream(prefix + "_readout.bin", std::ios::binary)
|
||
.write(reinterpret_cast<const char *>(readout_w.data()), readout_w.size() * 4);
|
||
std::cout << "training done in " << std::chrono::duration<double>(std::chrono::steady_clock::now() - t0).count()
|
||
<< " s" << std::endl;
|
||
}
|
||
else
|
||
{
|
||
std::ifstream f(prefix + "_readout.bin", std::ios::binary);
|
||
f.read(reinterpret_cast<char *>(readout_w.data()), readout_w.size() * 4);
|
||
}
|
||
if (eval == 0) return 0;
|
||
knp::core::UID image_proj, label_proj, readout_proj, out_uid;
|
||
knp::framework::Model model(build(false, readout_w, image_proj, label_proj, readout_proj, out_uid));
|
||
knp::core::UID in_channel, out_channel;
|
||
model.add_input_channel(in_channel, image_proj);
|
||
model.add_output_channel(out_channel, out_uid);
|
||
// Evaluation starts right after the training images unless KNP_EVAL_FIRST is given.
|
||
const size_t first = std::getenv("KNP_EVAL_FIRST") ? static_cast<size_t>(env_f("KNP_EVAL_FIRST", 0)) : train;
|
||
auto backend = loader.load(backend_path);
|
||
knp::framework::ModelExecutor executor(model, backend, {{in_channel, image_gen(first)}});
|
||
auto &out = executor.get_loader().get_output_channel(out_channel);
|
||
const auto t0 = std::chrono::steady_clock::now();
|
||
executor.start([&](size_t step) { return step < eval * steps_per_image; });
|
||
std::vector<std::vector<int>> counts(eval, std::vector<int>(classes, 0));
|
||
for (const auto &m : out.update())
|
||
{
|
||
// A spike sent on step s belongs to image s / steps_per_image (output arrives within the same image window).
|
||
const size_t img = m.header_.send_time_ / steps_per_image;
|
||
if (img < eval)
|
||
for (auto i : m.neuron_indexes_) ++counts[img][i];
|
||
}
|
||
std::ofstream csv(prefix + "_eval.csv");
|
||
csv << "index,label";
|
||
for (size_t c = 0; c < classes; ++c) csv << ",c" << c;
|
||
csv << "\n";
|
||
size_t correct = 0, silent = 0;
|
||
for (size_t i = 0; i < eval; ++i)
|
||
{
|
||
const auto &c = counts[i];
|
||
const int best = static_cast<int>(std::max_element(c.begin(), c.end()) - c.begin());
|
||
const bool none = *std::max_element(c.begin(), c.end()) == 0;
|
||
silent += none;
|
||
correct += !none && static_cast<size_t>(best) == labels[first + i];
|
||
csv << first + i << ',' << labels[first + i];
|
||
for (auto v : c) csv << ',' << v;
|
||
csv << "\n";
|
||
}
|
||
std::cout << "eval: " << correct << " / " << eval << " correct, " << silent << " silent, "
|
||
<< std::chrono::duration<double>(std::chrono::steady_clock::now() - t0).count() << " s" << std::endl;
|
||
return 0;
|
||
}
|
||
|
||
|
||
int main(int argc, const char *const argv[])
|
||
{
|
||
const std::string mode = argc > 1 ? argv[1] : "";
|
||
if (mode == "features" && argc == 7) return features_mode(argc, argv);
|
||
if (mode == "run" && argc == 11) return run_mode(argc, argv);
|
||
std::cerr << "usage: see the header of altai_objects.cpp" << std::endl;
|
||
return 1;
|
||
}
|