An integrated toolbox for creating neuromorphic edge applications

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Abstract Spiking Neural Networks (SNNs) and neuromorphic models are believed to be more efficient in general and have more biological realism than the activation functions typically used in deep neural networks, transformer models and generative AI. SNNs have local learning rules, are able to learn on small data sets, and can adapt through neuromodulation. Although research has shown their advantages, there are still few compelling practical applications, especially at the edge where sensors and actuators need to be processed in a timely fashion. One reason for this might be that SNNs are much more challenging to understand, build, and operate due to their intrinsic properties. For instance, the mathematical foundation involves differential equations rather than basic activation functions. To address these challenges, we have developed CARLsim++, an integrated toolbox that facilitates the creation of neuromorphic applications. It extends the highly efficient CARLsim open-source SNN simulator. CARLsim++ encapsulates the mathematical intrinsics and low-level C++ programming by providing a graphical user interface for users to easily create their SNNs and a means to configure sensors and actuators for robotics and other edge devices. These can be accurately simulated before deploying on physical devices. CARLsim++ can lead to rapid development of neuromorphic applications for simulation or edge processing. We introduce CARLsim++ with a closed loop robotic demonstration using neuromorphic computing.