An Implementation of Actor-Critic Algorithm on Spiking Neural Network Using Temporal Coding Method

Featured Application Rapid decision-making on micro drones. Taking advantage of faster speed, less resource consumption and better biological interpretability of spiking neural networks, this paper developed a novel spiking neural network reinforcement learning method using actor-critic architecture and temporal coding. The simple improved leaky integrate-and-fire (LIF) model was used to describe the behavior of a spike neuron. Then the actor-critic network structure and the update formulas using temporally encoded information were provided. The current model was finally examined in the decision-making task, the gridworld task, the UAV flying through a window task and the avoiding a flying basketball task. In the 5 x 5 grid map, the value function learned was close to the ideal situation and the quickest way from one state to another was found. A UAV trained by this method was able to fly through the window quickly in simulation. An actual flight test of a UAV avoiding a flying basketball was conducted. With this model, the success rate of the test was 96% and the average decision time was 41.3 ms. The results show the effectiveness and accuracy of the temporal coded spiking neural network RL method. In conclusion, an attempt was made to provide insights into developing spiking neural network reinforcement learning methods for decision-making and autonomous control of unmanned systems.