RGB-Event tracking has become a promising trend in visual object tracking to leverage the complementary strengths of both RGB images and dynamic spike events for improved performance. However, existing artificial neural networks (ANNs) struggle to fully exploit the sparse and asynchronous nature of event streams. Recent efforts toward hybrid architectures combining ANNs and spiking neural networks (SNNs) have emerged as a promising solution in RGB-Event perception, yet effectively fusing features across heterogeneous paradigms remains a challenge. In this work, we propose ISTASTrack, the first transformer-based ANN-SNN hybrid Tracker equipped with ISTA adapters for RGB-Event tracking. The two-branch model employs a vision transformer to extract spatial context from RGB inputs and a spiking transformer to capture spatio-temporal dynamics from event streams. To bridge the modality and paradigm gap between ANN and SNN features, we systematically design an ISTA adapter for bidirectional feature interaction between the two branches. The ISTA adapter is derived from the sparse representation theory by unfolding the iterative shrinkage-thresholding algorithm. Additionally, we incorporate a temporal downsampling attention module within the adapter to align multi-step SNN features with single-step ANN features in the latent space. Experimental results on RGB-Event tracking benchmarks, such as FE240hz, VisEvent, COESOT, and FELT, have demonstrated that ISTASTrack achieves state-of-the-art performance while maintaining high energy efficiency. This work highlights the effectiveness and practicality of hybrid ANN-SNN designs for robust visual tracking. The code is publicly available at https://github.com/lsying009/ISTASTrack.git.

Despite the rapid progress of neuromorphic computing, inadequate capacity and insufficient representation power of spiking neural networks (SNNs) severely restrict their application scope in practice. Residual learning and shortcuts have been evidenced as an important approach for training deep neural networks, but rarely did previous work assessed their applicability to the specifics of SNNs. In this article, we first identify that this negligence leads to impeded information flow and the accompanying degradation problem in a spiking version of vanilla ResNet. To address this issue, we propose a novel SNN-oriented residual architecture termed MS-ResNet, which establishes membrane-based shortcut pathways, and further proves that the gradient norm equality can be achieved in MS-ResNet by introducing block dynamical isometry theory, which ensures the network can be well-behaved in a depth-insensitive way. Thus, we are able to significantly extend the depth of directly trained SNNs, e.g., up to 482 layers on CIFAR-10 and 104 layers on ImageNet, without observing any slight degradation problem. To validate the effectiveness of MS-ResNet, experiments on both frame-based and neuromorphic datasets are conducted. MS-ResNet104 achieves a superior result of 76.02% accuracy on ImageNet, which is the highest to the best of our knowledge in the domain of directly trained SNNs. Great energy efficiency is also observed, with an average of only one spike per neuron needed to classify an input sample. We believe our powerful and scalable models will provide strong support for further exploration of SNNs.

Synaptic plasticity plays a critical role in the expression power of brain neural networks. Among diverse plasticity rules, synaptic scaling presents indispensable effects on homeostasis maintenance and synaptic strength regulation. In the current modeling of brain-inspired spiking neural networks (SNN), backpropagation through time is widely adopted because it can achieve high performance using a small number of time steps. Nevertheless, the synaptic scaling mechanism has not yet been well touched. In this work, we propose an experience-dependent adaptive synaptic scaling mechanism (AS-SNN) for spiking neural networks. The learning process has two stages: First, in the forward path, adaptive short-term potentiation or depression is triggered for each synapse according to afferent stimuli intensity accumulated by presynaptic historical neural activities. Second, in the backward path, long-term consolidation is executed through gradient signals regulated by the corresponding scaling factor. This mechanism shapes the pattern selectivity of synapses and the information transfer they mediate. We theoretically prove that the proposed adaptive synaptic scaling function follows a contraction map and finally converges to an expected fixed point, in accordance with state-of-the-art results in three tasks on perturbation resistance, continual learning, and graph learning. Specifically, for the perturbation resistance and continual learning tasks, our approach improves the accuracy on the N-MNIST benchmark over the baseline by 44% and 25%, respectively. An expected firing rate callback and sparse coding can be observed in graph learning. Extensive experiments on ablation study and cost evaluation evidence the effectiveness and efficiency of our nonparametric adaptive scaling method, which demonstrates the great potential of SNN in continual learning and robust learning.

Spiking neural networks (SNNs) are known as typical kinds of brain-inspired models with their unique features of rich neuronal dynamics, diverse coding schemes, and low power consumption properties. How to obtain a high-accuracy model has always been the main challenge in the field of SNN. Currently, there are two mainstream methods, i.e., obtaining a converted SNN through converting a well-trained artificial NN (ANN) to its SNN counterpart or training an SNN directly. However, the inference time of a converted SNN is too long, while SNN training is generally very costly and inefficient. In this work, a new SNN training paradigm is proposed by combining the concepts of the two different training methods with the help of the pretrain technique and BP-based deep SNN training mechanism. We believe that the proposed paradigm is a more efficient pipeline for training SNNs. The pipeline includes pipe-S for static data transfer tasks and pipe-D for dynamic data transfer tasks. State-of-the-art (SOTA) results are obtained in a large-scale event-driven dataset ES-ImageNet. For training acceleration, we achieve the same (or higher) best accuracy as similar leaky-integrate-and-fire (LIF)-SNNs using 1/8 training time on ImageNet-1K and 1/2 training time on ES-ImageNet and also provide a time-accuracy benchmark for a new dataset ES-UCF101. These experimental results reveal the similarity of the functions of parameters between ANNs and SNNs and also demonstrate various potential applications of this SNN training pipeline.

Spiking neural networks (SNNs), an important family of neuroscience-oriented intelligent models, play an essential role in the neuromorphic computing community. Spike rate coding and temporal coding are the mainstream coding schemes in the current modeling of SNNs. However, rate coding usually suffers from limited representation resolution and long latency, while temporal coding usually suffers from under-utilization of spike activities. To this end, we propose spike attention coding (SAC) for SNNs. By introducing learnable attention coefficients for each time step, our coding scheme can naturally unify rate coding and temporal coding, and then flexibly learn optimal coefficients for better performance. Several normalization and regularization techniques are further incorporated to control the range and distribution of the learned attention coefficients. Extensive experiments on classification, generation, and regression tasks are conducted and demonstrate the superiority of the proposed coding scheme. This work provides a flexible coding scheme to enhance the representation power of SNNs and extends their application scope beyond the mainstream classification scenario.

Spiking neural networks (SNNs) are brain-inspired energy-efficient models that encode information in spatiotemporal dynamics. Recently, deep SNNs trained directly have shown great success in achieving high performance on classification tasks with very few time steps. However, how to design a directly-trained SNN for the regression task of object detection still remains a challenging problem. To address this problem, we propose EMS-YOLO, a novel directly-trained SNN framework for object detection, which is the first trial to train a deep SNN with surrogate gradients for object detection rather than ANN-SNN conversion strategies. Specifically, we design a full-spike residual block, EMS-ResNet, which can effectively extend the depth of the directly-trained SNN with low power consumption. Furthermore, we theoretically analyze and prove the EMS-ResNet could avoid gradient vanishing or exploding. The results demonstrate that our approach outperforms the state-of-the-art ANN-SNN conversion methods (at least 500 time steps) in extremely fewer time steps (only 4 time steps). It is shown that our model could achieve comparable performance to the ANN with the same architecture while consuming 5.83× less energy on the frame-based COCO Dataset and the event-based Gen1 Dataset. Our code is available in https://github.com/BICLab/EMS-YOLO.

Brain-inspired spiking neural networks (SNNs) are becoming a promising energy-efficient alternative to traditional artificial neural networks (ANNs). However, the performance gap between SNNs and ANNs has been a significant hindrance to deploying SNNs ubiquitously. To leverage the full potential of SNNs, in this paper we study the attention mechanisms, which can help human focus on important information. We present our idea of attention in SNNs with a multi-dimensional attention module, which infers attention weights along the temporal, channel, as well as spatial dimension separately or simultaneously. Based on the existing neuroscience theories, we exploit the attention weights to optimize membrane potentials, which in turn regulate the spiking response. Extensive experimental results on event-based action recognition and image classification datasets demonstrate that attention facilitates vanilla SNNs to achieve sparser spiking firing, better performance, and energy efficiency concurrently. In particular, we achieve top-1 accuracy of 75.92% and 77.08% on ImageNet-1 K with single/4-step Res-SNN-104, which are state-of-the-art results in SNNs. Compared with counterpart Res-ANN-104, the performance gap becomes -0.95/+0.21 percent and the energy efficiency is 31.8×/7.4×. To analyze the effectiveness of attention SNNs, we theoretically prove that the spiking degradation or the gradient vanishing, which usually holds in general SNNs, can be resolved by introducing the block dynamical isometry theory. We also analyze the efficiency of attention SNNs based on our proposed spiking response visualization method. Our work lights up SNN's potential as a general backbone to support various applications in the field of SNN research, with a great balance between effectiveness and energy efficiency.

As well known, the huge memory and compute costs of both artificial neural networks (ANNs) and spiking neural networks (SNNs) greatly hinder their deployment on edge devices with high efficiency. Model compression has been proposed as a promising technique to improve the running efficiency via parameter and operation reduction, whereas this technique is mainly practiced in ANNs rather than SNNs. It is interesting to answer how much an SNN model can be compressed without compromising its functionality, where two challenges should be addressed: 1) the accuracy of SNNs is usually sensitive to model compression, which requires an accurate compression methodology and 2) the computation of SNNs is event-driven rather than static, which produces an extra compression dimension on dynamic spikes. To this end, we realize a comprehensive SNN compression through three steps. First, we formulate the connection pruning and weight quantization as a constrained optimization problem. Second, we combine spatiotemporal backpropagation (STBP) and alternating direction method of multipliers (ADMMs) to solve the problem with minimum accuracy loss. Third, we further propose activity regularization to reduce the spike events for fewer active operations. These methods can be applied in either a single way for moderate compression or a joint way for aggressive compression. We define several quantitative metrics to evaluate the compression performance for SNNs. Our methodology is validated in pattern recognition tasks over MNIST, N-MNIST, CIFAR10, and CIFAR100 datasets, where extensive comparisons, analyses, and insights are provided. To the best of our knowledge, this is the first work that studies SNN compression in a comprehensive manner by exploiting all compressible components and achieves better results.

Spiking neural networks (SNNs) are promising in a bio-plausible coding for spatio-temporal information and event-driven signal processing, which is very suited for energy-efficient implementation in neuromorphic hardware. However, the unique working mode of SNNs makes them more difficult to train than traditional networks. Currently, there are two main routes to explore the training of deep SNNs with high performance. The first is to convert a pre-trained ANN model to its SNN version, which usually requires a long coding window for convergence and cannot exploit the spatio-temporal features during training for solving temporal tasks. The other is to directly train SNNs in the spatio-temporal domain. But due to the binary spike activity of the firing function and the problem of gradient vanishing or explosion, current methods are restricted to shallow architectures and thereby difficult in harnessing large-scale datasets (e.g. ImageNet). To this end, we propose a threshold-dependent batch normalization (tdBN) method based on the emerging spatio-temporal backpropagation, termed “STBP-tdBN”, enabling direct training of a very deep SNN and the efficient implementation of its inference on neuromorphic hardware. With the proposed method and elaborated shortcut connection, we significantly extend directly-trained SNNs from a shallow structure (