Exploring spiking neural networks for deep reinforcement learning in robotic tasks

Spiking Neural Networks (SNNs) stand as the third generation of Artificial Neural Networks (ANNs), mirroring the functionality of the mammalian brain more closely than their predecessors. Their computational units, spiking neurons, characterized by Ordinary Differential Equations (ODEs), allow for dynamic system representation, with spikes serving as the medium for asynchronous communication among neurons. Due to their inherent ability to capture input dynamics, SNNs hold great promise for deep networks in Reinforcement Learning (RL) tasks. Deep RL (DRL), and in particular Proximal Policy Optimization (PPO) has been proven to be valuable for training robots due to the difficulty in creating comprehensive offline datasets that capture all environmental features. DRL combined with SNNs offers a compelling solution for tasks characterized by temporal complexity. In this work, we study the effectiveness of SNNs on DRL tasks leveraging a novel framework we developed for training SNNs with PPO in the Isaac Gym simulator implemented using the skrl library. Thanks to its significantly faster training speed compared to available SNN DRL tools, the framework allowed us to: (i) Perform an effective exploration of SNN configurations for DRL robotic tasks; (ii) Compare SNNs and ANNs for various network configurations such as the number of layers and neurons. Our work demonstrates that in DRL tasks the optimal SNN topology has a lower number of layers than ANN and we highlight how the state-of-art SNN architectures used in complex RL tasks, such as Ant, SNNs have difficulties fully leveraging deeper layers. Finally, we applied the best topology identified thanks to our Isaac Gym-based framework on Ant-v4 benchmark running on MuJoCo simulator, exhibiting a performance improvement by a factor of 4.4 <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"><mml:mo>×</mml:mo></mml:math> over the state-of-art SNN trained on the same task.