Spike-Timing Dependent Plasticity Learning for Visual-Based Obstacles Avoidance

  • Hédi Soula
  • Guillaume Beslon
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4095)


In this paper, we train a robot to learn online a task of obstacles avoidance. The robot has at its disposal only its visual input from a linear camera in an arena whose walls are composed of random black and white stripes. The robot is controlled by a recurrent spiking neural network (integrate and fire). The learning rule is the spike-time dependent plasticity (STDP) and its counterpart – the so-called anti-STDP. Since the task itself requires some temporal integration, the neural substrate is the network’s own dynamics. The behaviors of avoidance we obtain are homogenous and elegant. In addition, we observe the emergence of a neural selectivity to the distance after the learning process.


Hide Neuron Learning Rule Spike Activity Obstacle Avoidance Neural Computation 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Hédi Soula
    • 1
  • Guillaume Beslon
    • 2
  1. 1.LBM/NIDDKNational Institutes of HealthBethesdaUSA
  2. 2.PRISMANational Institute of Applied SciencesVilleurbanne CedexFrance

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