doi:10.1016/j.jphysparis.2004.01.021
Copyright © 2004 Elsevier Ltd. All rights reserved.
Modelling the formation of working memory with networks of integrate-and-fire neurons connected by plastic synapses
a Physics Laboratory, Istituto Superiore di Sanità, v.le Regina Elena 299, 00161, Roma, Italy
b Institute of Physiology, University of Bern, CH-3012 Bühlplatz 5, Switzerland
Available online 25 February 2004.
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Abstract
In this paper we review a series of works concerning models of spiking neurons interacting via spike-driven, plastic, Hebbian synapses, meant to implement stimulus driven, unsupervised formation of working memory (WM) states.
Starting from a summary of the experimental evidence emerging from delayed matching to sample (DMS) experiments, we briefly review the attractor picture proposed to underlie WM states. We then describe a general framework for a theoretical approach to learning with synapses subject to realistic constraints and outline some general requirements to be met by a mechanism of Hebbian synaptic structuring. We argue that a stochastic selection of the synapses to be updated allows for optimal memory storage, even if the number of stable synaptic states is reduced to the extreme (bistable synapses). A description follows of models of spike-driven synapses that implement the stochastic selection by exploiting the high irregularity in the pre- and post-synaptic activity.
Reasons are listed why dynamic learning, that is the process by which the synaptic structure develops under the only guidance of neural activities, driven in turn by stimuli, is hard to accomplish. We provide a ‘feasibility proof' of dynamic formation of WM states in this context the beneficial role of short-term depression (STD) is illustrated. by showing how an initially unstructured network autonomously develops a synaptic structure supporting simultaneously stable spontaneous and WM states in this context the beneficial role of short-term depression (STD) is illustrated. After summarizing heuristic indications emerging from the study performed, we conclude by briefly discussing open problems and critical issues still to be clarified.
Author Keywords: Author Keywords: Working memory; Learning; Synaptic plasticity; Spike timing dependent plasticity; Synaptic frequency adaptation; Spiking neurons
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Fig. 1. Stimulus-selective delay activity in infero-temporal cortex during a DMS task. The animal is required to compare a sample stimulus to a test stimulus which is presented after a delay of a few seconds. The response of one cell to two different familiar stimuli (stimulus 24 and stimulus 14) is shown in the plot. The rasters show the spikes emitted by the cell in different trials, and the histogram represents the mean spike rate across all the repetitions of the same stimulus as a function of time. The visual sample stimulus S triggers a sustained delay activity in response to stimulus 14, but not to stimulus 24. The information about the last stimulus seen is propagated throughout the inter-stimulus interval, no matter whether the identity of the stimulus has to be kept in mind or not to perform the task. Indeed the elevated activity elicited by stimulus 14 is triggered also in the inter-trial interval, between the test stimulus and the sample of the next trial, where there is no need to hold in memory the identity of the last stimulus seen (adapted from [27]).
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Fig. 2. Schematic illustration of the network's architecture. Blobs represent different populations in the network: Inhibitory (I) neurons (dark gray blob), excitatory (E) neurons which are never stimulated (‘background', light gray blobs), neurons that, because of the formation of a stimulus-specific synaptic structure, are selective to different stimuli (two stimuli in the figure; white blobs). The sets of selective neurons are assumed to be disjoint in the figure, being the associated stimuli uncorrelated. In the general case selective blobs overlap, owing to neurons shared by internal representations of different stimuli. Thick arrows indicate potentiated synapses (Jp), connecting neurons coding for the same stimulus. Medium weight arrows indicate synapses which do not undergo modifications with respect to the initial state (JEE), connecting background neurons among themselves, and background neurons to selective ones. Thin arrows stand for depressed synapses (Jd), assuming a homosynaptic kind of LTD (i.e. synapses get depressed for highly active pre-synaptic neurons and low activity post-synaptic ones); they connect selective neurons to the background, and neurons selective to different stimuli to each other. Synapses from (JEI) and to (JIE) inhibitory neurons are depicted as dashed lines. External neurons interact with the network via the synaptic couplings JI,ext and JE,ext, and are assumed to be excitatory.
Fig. 3. Population transfer functions Φ(νin) (=νout) and fixed points (self-reproducing rate states) of a stimulus-selective neuron subset before and after learning. Solid curves are Φ(νin) before (light gray) and after (dark gray) the recurrent coupling potentiation: When Jp increases the same νin drives more excitatory current, amplifying the output spike emission rate νout. Fixed points are such that νout=νin (the self-consistency equation), the intersection of νin (dashed line) and the transfer functions: White circles are for stable states, dark circle for the unstable one.
Fig. 4. Stimulation of persistent delay activity selective for a familiar stimulus in a simulation of interacting spiking neurons with synaptic coupling structured as in Fig. 2. The raster plot (A) shows the spikes emitted by a subset of cell in the simulated network grouped in sub-populations with homogeneous functional and structural properties: The bottom five strips contain the spike traces of neurons selective to five different uncorrelated stimuli; In the upper strip is shown the spike activity of a subset of inhibitory neurons and in the large middle strip several background excitatory neurons. (B) The emission rates of the selective sub-populations are plotted: The activity of a population is given by the fraction of neurons emitting a spike per unit time. The population activity is such that before the stimulation all the excitatory neurons emit spikes at low rate (global spontaneous activity) almost independently of the belonging functional group.
Fig. 5. Transient responses to a stepwise stimulation of an excitatory population, for two different coupling strengths. The theoretically predicted spike emission rate dynamics of the population with weak (thin line) and strong (thick line) synaptic coupling is shown (adapted from [50]).
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Fig. 7. Mean spike rate vs the distribution of the depolarization V. Left: Distribution p(v) as a function of the post-synaptic frequency νpost. For each νpost the parameters μ,σ characterizing the input current are calculated as explained in the text. μ,σ determine the sub-threshold distribution of the depolarization that is plotted here. The white lines over the surface are drawn in correspondence of V=VL and V=VH, the thresholds that determine the direction of the temporary synaptic modifications. Note that here the reset potential H coincides with VH. Right: Probability of occurrence of upwards (Qa) and downwards (Qb) jumps upon the arrival of a pre-synaptic spike for different post-synaptic activities. Qa is the integral of p(v) between the white line corresponding to VH and the threshold. Analogously, Qb is the integral of p(v) between the resting potential (V=0) and VL. As the post-synaptic activity increases, the peak of the distribution p(v) moves from the resting potential to the reset potential H. As a consequence, Qa increases and Qb decreases (the figure is reproduced from [70]).
Fig. 6. Stochastic LTP: pre- and post-synaptic neurons fire at the same mean rate and the synapse starts from the same initial value (X(0)=0) in both cases illustrated in the left and the right panel. In each panel are plotted as a function of time (from top to bottom): the pre-synaptic spikes, the simulated synaptic internal variable X(t) and the depolarization V(t) of post-synaptic neuron (note that VL=VH). Left: LTP is caused by a burst of pre-synaptic spikes that drives X(t) above the synaptic threshold; Right: at end of stimulation, X returns to the initial value. At parity of activity, the final state is different in the two cases (the figure is reproduced from [63]).
Fig. 8. An example dynamics of one of the spike-driven synapse used in the spiking neurons network to study the learning expression (adapted from [73]). The internal state X(t) of the synapse is plotted as a function of time in the central plot. Above and below it are plotted the pre- and the post-synaptic spikes respectively. The synaptic threshold θx is represented by the dashed line. The shaded regions are the time intervals following post-synaptic spikes during which a pre-synaptic spike induces up-regulation of the internal synaptic variable X.
Fig. 9. Curves of iso-probability of potentiation (gray) and depression (black) for synapses following the rule suggested by the experiment by Markram et al. (A), the model of Fusi et al. (B), the synapse with a variable window for depression used in [73] (C) and a synapse with a variable window for depression, but otherwise the same as A (D), driven by pre-synaptic and post-synaptic neurons emitting Poisson spike trains respectively at frequencies νpre and νpost.
Fig. 10. The potentiation-depression (PD) plane which represents the stable asynchronous states at different levels of potentiation and depression of synaptic efficacies due to a learning process involving a finite set of uncorrelated stimuli (see text for details, adapted from [73]).
Fig. 11. A successful learning trajectory. (A) Neural activity of the five uncorrelated stimuli used in the learning process for a totally unstructured synaptic distribution (starting point for the simulation): No selective delay activity shown after visual response. (B) The PD-plane for the simulated network superimposed to the learning trajectory emerging from the simulation: Each diamond indicates the system state after a presentation of the entire set of stimuli. (C) As in (A), at the end of the simulation the system reaches the region of the PD-plane where spontaneous and selective states coexist: the selective delay activity following a stimulation is clearly visible. See text for details (this figure is adapted from [73]).
Fig. 12. Potentiation level Jp/JEE (solid curve) and depression level Jd/JEE (point-dashed curve) during a learning session. Data are from the same simulation shown in Fig. 11.
Fig. 13. Histograms of the fraction Rp of potentiated synapses a neuron receives from homogeneous cells in a stimulated sub-population at different successive learning stages. A learning stage consists of a sequence of five different stimuli, each presented for 250 ms every second. Each histogram is sampled at the times reported on the left of the histograms. (A) Case in which the dendritic tree develops a ‘bad' structure (some neurons express LTD rather than LTP); (B) A well separated case.
Fig. 14. An example of visual response during a learning history with (dashed line) and without (solid line) synaptic STD.