Spiking neural networks (SNNs) aim to realize brain-inspired intelligence on neuromorphic chips with high energy efficiency by introducing neural dynamics and spike properties. As the emerging spiking deep learning paradigm attracts increasing interest, traditional programming frameworks cannot meet the demands of the automatic differentiation, parallel computation acceleration, and high integration of processing neuromorphic datasets and deployment. In this work, we present the SpikingJelly framework to address the aforementioned dilemma. We contribute a full-stack toolkit for preprocessing neuromorphic datasets, building deep SNNs, optimizing their parameters, and deploying SNNs on neuromorphic chips. Compared to existing methods, the training of deep SNNs can be accelerated 11×, and the superior extensibility and flexibility of SpikingJelly enable users to accelerate custom models at low costs through multilevel inheritance and semiautomatic code generation. SpikingJelly paves the way for synthesizing truly energy-efficient SNN-based machine intelligence systems, which will enrich the ecology of neuromorphic computing.

Mobile edge computing (MEC) has been an effective paradigm for supporting computation-intensive applications by offloading resources at network edge. Especially in vehicular networks, the MEC server, is deployed as a small-scale computation server at the roadside and offloads computation-intensive task to its local server. However, due to the unique characteristics of vehicular networks, including high mobility of vehicles, dynamic distribution of vehicle densities and heterogeneous capacities of MEC servers, it is still challenging to implement efficient computation offloading mechanism in MEC-assisted vehicular networks. In this article, we investigate a novel scenario of computation offloading in MEC-assisted architecture, where task upload coordination between multiple vehicles, task migration between MEC/cloud servers and heterogeneous computation capabilities of MEC/cloud severs, are comprehensively investigated. On this basis, we formulate cooperative computation offloading (CCO) problem by modeling the procedure of task upload, migration and computation based on queuing theory, which aims at minimizing the delay of task completion. To tackle the CCO problem, we propose a probabilistic computation offloading (PCO) algorithm, which enables MEC server to independently make online scheduling based on the derived allocation probability. Specifically, the PCO transforms the objective function into augmented Lagrangian and achieves the optimal solution in an iterative way, based on a convex framework called Alternating Direction Method of Multipliers (ADMM). Last but not the least, we implement the simulation model. The comprehensive simulation results show the superiority of the proposed algorithm under a wide range of scenarios.

Mobile edge computing has been a promising solution to enable real-time service in vehicular networks. However, due to high dynamics of mobile environment and heterogeneous features of vehicular services, traditional expert-based or learning-based strategies has to update handcrafted parameters or retrain learning model, which leads to intolerant overhead. Therefore, this paper investigates the problem of multi-task offloading (MTO), where there exist multiple offloading scenarios with varying parameters, such as task topology, resource requirement and transmission/computation capability. The objective is to design a unified solution to minimize task execution time under different MTO scenarios. Accordingly, we develop a Seq2seq-based Meta Reinforcement Learning algorithm for MTO (SMRL-MTO). Specifically, a bidirectional gated recurrent units integrated with attention mechanism is designed to determine offloading action by encoding sequential offloading actions and showing different preferences to different parts of input sequence. Particularly, a meta reinforcement learning framework is designed based on model-agnostic meta learning, which trains a meta policy offline and fast adapts to new MTO scenario within a few training steps. Finally, we conduct performance evaluation based on task generator DAGGEN and realistic vehicular traces, which shows that the SMRL-MTO reduces task execution time by 11.36% on average compared with greedy algorithm.

Fog computing has been an effective paradigm of real-time applications in the IoT area, which enables task offloading at network edge devices. Particularly, many emerging vehicular applications require real-time interaction between the terminal users and computation servers, which can be implemented in fog-based architecture. However, it is still challenging to apply fog computing in vehicular networks due to high mobility of vehicles and uneven distribution of vehicle density, which may result in performance degradation, such as unbalanced workload and unexpected task failure. In this article, we investigate a new service scenario of task offloading under a three-layer service architecture, where the resources of vehicular fog (VF), fog server (FS), and central cloud (CC) are utilized in a cooperative way. On this basis, we formulate the probabilistic task offloading (PTO) problem by synthesizing task transmission, computation, and result retrieval, as well as characterizing the heterogeneity of computation servers. The objective of the PTO is to minimize the weighted sum of execution delay, energy consumption, and payment cost. To resolve the PTO problem, we propose a comprehensive task offloading algorithm by combining the alternating direction method of multipliers (ADMMs) and particle swarm optimization (PSO), called ADMM-PSO. The basic idea of the ADMM-PSO is to divide the PTO problem into multiple unconstrained subproblems and achieve the optimal solution in the form of an iterative coordination process. For each iteration, the solution is achieved by solving each subproblem with the PSO and updated based on a designed rule, which is able to converge to the optimal solution when the stop criterion is satisfied. Finally, we build the simulation model and implement the proposed algorithm for performance evaluation. The simulation results demonstrate the superiority of the proposed algorithm under a wide range of service scenarios.

Neuromorphic vision sensors, whose pixels output events/spikes asynchronously with a high temporal resolution according to the scene radiance change, are naturally appropriate for capturing high-speed motion in the scenes. However, how to utilize the events/spikes to smoothly track high-speed moving objects is still a challenging problem. Existing approaches either employ time-consuming iterative optimization, or require large amounts of labeled data to train the object detector. To this end, we propose a bio-inspired unsupervised learning framework, which takes advantage of the spatiotemporal information of events/spikes generated by neuromorphic vision sensors to capture the intrinsic motion patterns. Without off-line training, our models can filter the redundant signals with dynamic adaption module based on short-term plasticity, and extract the motion patterns with motion estimation module based on the spike-timing-dependent plasticity. Combined with the spatiotemporal and motion information of the filtered spike stream, the traditional DBSCAN clustering algorithm and Kalman filter can effectively track multiple targets in extreme scenes. We evaluate the proposed unsupervised framework for object detection and tracking tasks on synthetic data, publicly available event-based datasets, and spiking camera datasets. The experiment results show that the proposed model can robustly detect and smoothly track the moving targets on various challenging scenarios and outperforms state-of-the-art approaches.

Mobile edge computing (MEC) is an emerging paradigm to offload computations from the cloud to the MEC servers in vehicular networks, aiming at better supporting computation-intensive services with requirements of low latency and real-time processing. In this work, we investigate a new service scenario of computation offloading and workload balancing in MEC-empowered vehicular networks, where the computational resources of MEC/cloud servers are cooperatively utilized. Then, we formulate a distributed task assignment (DTA) problem by considering heterogeneous computation resources, high mobility of vehicles and uneven distribution of workloads, targeting at optimizing task assignment among MEC/cloud servers and minimizing task completion time. We prove that the DTA is NP-hard. Further, we propose a multi-armed bandit learning algorithm called Utility-table based Learning. For workload balancing among MEC servers, a utility table is established to determine the optimal solution by online learning of real-time workload distribution, which is updated based on the feedback signal of task assignment. For optimal computation offloading, a theoretical bound is derived to determine the ratio of workload assigned to the cloud. Lastly, we build the simulation model and conduct an extensive experiment, which demonstrates the superiority of the proposed algorithm.