Tactile 3D Exploration

1. CAD contains the CAD files (AutoDesk Inventor).
2. demos contains demos of tactile memory and exploration with spatial semantic pointer (SSP).
3. tac3d contains the ROS2 packages for active tactile exploration simulation.

Features

• Intel Loihi support via docker
• Online simulation in MuJoCo with ROS2 interfaces
• Asynchronous neural simulation in Nengo

Loihi

1. Copy NxSDK tarballs to loihi directory, setup the kernel before running the container

  sudo rmmod ftdi_sio # Remove FTDI interfaces from kernel

2. Launch the active exploration simulation in the docker container

  cd loihi
  docker compose up

Reference

[1] Komer, B., Stewart, T. C., Voelker, A. R., & Eliasmith, C. (2019). A neural representation of continuous space using fractional binding. Proceedings of the 41st Annual Meeting of the Cognitive Science Society. Annual Meeting of the Cognitive Science Society, Montreal, QC, Canada.

[2] Voelker, A. R., Blouw, P., Choo, X., Dumont, N. S.-Y., Stewart, T. C., & Eliasmith, C. (2021). Simulating and Predicting Dynamical Systems With Spatial Semantic Pointers. Neural Computation, 33(8), 2033–2067. https://doi.org/10.1162/neco_a_01410

[3] Still, S., & Precup, D. (2012). An information-theoretic approach to curiosity-driven reinforcement learning. Theory in Biosciences, 131(3), 139–148. https://doi.org/10.1007/s12064-011-0142-z