Embodied bidirectional simulation of a spiking cortico-basal ganglia-cerebellar-thalamic brain model and a mouse musculoskeletal body model distributed across computers including the supercomputer Fugaku

Frontiers in Neurorobotics

Neuroscience

Jun Igarashi¹  Ugo Albanese²  Tadashi Yamazaki³  Tomoya Hirayama³  Yusuke Kuniyoshi³  Shu Omura³  Rin Kuriyama³  Taiki Yamada⁴  Zhe Sun⁵  Carlos Enrique Gutierrez⁶  Kenji Doya⁶  Fabrice O. Morin⁷  Alois C. Knoll⁷  Benedikt Feldotto⁷ 

[1] Computational Engineering Applications Unit, Head Office for Information Systems and Cybersecurity, RIKEN, Saitama, Japan;Center for Computational Science, RIKEN, Hyogo, Japan;Department of Excellence in Robotics and AI, The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy;Graduate School of Informatics and Engineering, The University of Electro-Communications, Tokyo, Japan;Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan;Image Processing Research Team, Center for Advanced Photonics, RIKEN, Saitama, Japan;Computational Engineering Applications Unit, Head Office for Information Systems and Cybersecurity, RIKEN, Saitama, Japan;Neural Computation Unit, Okinawa Institute of Science and Technology Graduate University, Okinawa, Japan;Robotics, Artificial Intelligence and Real-Time Systems, Faculty of Informatics, Technical University of Munich, Munich, Germany;

关键词: spiking neural networks;    musculoskeletal model;    distributed simulation;    Fugaku;    Neurorobotics Platform;    ROS;   

DOI  :  10.3389/fnbot.2023.1269848

 received in 2023-07-31, accepted in 2023-09-12,  发布年份 2023

来源: Frontiers

【 摘 要 】

Embodied simulation with a digital brain model and a realistic musculoskeletal body model provides a means to understand animal behavior and behavioral change. Such simulation can be too large and complex to conduct on a single computer, and so distributed simulation across multiple computers over the Internet is necessary. In this study, we report our joint effort on developing a spiking brain model and a mouse body model, connecting over the Internet, and conducting bidirectional simulation while synchronizing them. Specifically, the brain model consisted of multiple regions including secondary motor cortex, primary motor and somatosensory cortices, basal ganglia, cerebellum and thalamus, whereas the mouse body model, provided by the Neurorobotics Platform of the Human Brain Project, had a movable forelimb with three joints and six antagonistic muscles to act in a virtual environment. Those were simulated in a distributed manner across multiple computers including the supercomputer Fugaku, which is the flagship supercomputer in Japan, while communicating via Robot Operating System (ROS). To incorporate models written in C/C++ in the distributed simulation, we developed a C++ version of the rosbridge library from scratch, which has been released under an open source license. These results provide necessary tools for distributed embodied simulation, and demonstrate its possibility and usefulness toward understanding animal behavior and behavioral change.

【 授权许可】

Unknown   
Copyright © 2023 Kuniyoshi, Kuriyama, Omura, Gutierrez, Sun, Feldotto, Albanese, Knoll, Yamada, Hirayama, Morin, Igarashi, Doya and Yamazaki.