/// <summary>
/// Add a new SegmentUpdateInfo object to this Cell containing proposed changes to the
/// specified segment.
/// </summary>
/// <remarks>
/// If the segment is NULL, then a new segment is to be added, otherwise
/// the specified segment is updated. If the segment exists, find all active
/// synapses for the segment (either at t or t-1 based on the 'previous' parameter)
/// and mark them as needing to be updated. If newSynapses is true, then
/// Region.newSynapseCount - len(activeSynapses) new synapses are added to the
/// segment to be updated. The (new) synapses are randomly chosen from the set
/// of current learning cells (within Region.predictionRadius if set).
///
/// These segment updates are only applied when the applySegmentUpdates
/// method is later called on this Cell.
/// </remarks>
public SegmentUpdateInfo UpdateSegmentActiveSynapses(bool previous, Segment segment, bool newSynapses, UpdateType updateType)
{
List <DistalSynapse> activeDistalSyns = null;
if (segment != null)
{
List <Synapse> activeSyns = previous
? segment.PrevActiveSynapses
: segment.ActiveSynapses;
activeDistalSyns = activeSyns.Cast <DistalSynapse>().ToList();
}
var segmentUpdate = new SegmentUpdateInfo();
segmentUpdate.Initialize(this, segment, activeDistalSyns, newSynapses, this.Column.Region.StepCounter, updateType);
this._segmentUpdates.Add(segmentUpdate);
return(segmentUpdate);
}
/// <summary>
/// This function reinforces each segment in this Cell's SegmentUpdateInfo.
/// </summary>
/// <remarks>
/// Using the segmentUpdateInfo, the following changes are
/// performed. If positiveReinforcement is true then synapses on the active
/// list get their permanence counts incremented by permanenceInc. All other
/// synapses get their permanence counts decremented by permanenceDec. If
/// positiveReinforcement is false, then synapses on the active list get
/// their permanence counts decremented by permanenceDec. After this step,
/// any synapses in segmentUpdate that do yet exist get added with a permanence
/// count of initialPerm. These new synapses are randomly chosen from the
/// set of all cells that have learnState output = 1 at time step t.
/// </remarks>
public void ApplySegmentUpdates(int curTime, ApplyUpdateTrigger trigger)
{
Segment segment = null;
var modifiedSegments = new List <Segment>();
// Iterate through all segment updates, skipping those not to be applied now, and removing those that are applied.
int segInfoIndex = 0;
while (segInfoIndex < this._segmentUpdates.Count)
{
SegmentUpdateInfo segInfo = this._segmentUpdates[segInfoIndex];
// Do not apply the current segment update if it was created at the current time step, and was created as a result of the cell being predictive.
// If this is the case, then this segment update can only be evaluated at a later time step, and so should remain in the queue for now.
bool applyUpdate = !((segInfo.CreationTimeStep == curTime) && (segInfo.UpdateType == UpdateType.DueToPredictive));
// Do not apply the current segment update if its numPredictionSteps > 1, and if we are applying updates due to the cell still being predictive,
// but with a greater numPredictionSteps. Unless the segment being updated predicted activation in 1 prediction step, it cannot be proven
// incorrect, and so shouldn't be processed yet. This is because a "prediction step" can take more than one time step.
if ((trigger == ApplyUpdateTrigger.LongerPrediction) && (segInfo.NumPredictionSteps > 1))
{
applyUpdate = false;
}
if (applyUpdate)
{
segment = segInfo.Segment;
if (segment != null)
{
if (trigger == ApplyUpdateTrigger.Active)
{
// The cell has become actve; positively reinforce the segment.
segment.UpdatePermanences(ref segInfo.ActiveDistalSynapses);
}
else
{
// The cell has become inactive of is predictive but with a longer prediction. Negatively reinforce the segment.
segment.DecreasePermanences(ref segInfo.ActiveDistalSynapses);
}
// Record that this segment has been modified, so it can later be checked for synapses that should be removed.
if (modifiedSegments.Contains(segment) == false)
{
modifiedSegments.Add(segment);
}
}
// Add new synapses (and new segment if necessary)
if (segInfo.AddNewSynapses && (trigger == ApplyUpdateTrigger.Active))
{
if (segment == null)
{
if (segInfo.CellsThatWillLearn.Count > 0) //only add if learning cells available
{
segment = segInfo.CreateCellSegment(this.Column.Region.StepCounter);
}
}
else if (segInfo.CellsThatWillLearn.Count > 0)
{
//add new synapses to existing segment
segInfo.CreateSynapsesToLearningCells(this.Column.Region.DistalSynapseParams);
}
}
// Remove and release the current SegmentUpdateInfo.
this._segmentUpdates.RemoveAt(segInfoIndex);
}
else
{
segInfoIndex++;
}
}
// Only process modified segments if all segment updates have been processed, to avoid deleting segments or synapses that
// are referred to by still-existing segment updates.
if (this._segmentUpdates.Count == 0)
{
// All segment updates have been processed, so there are none left that may have references to this cell's
// synapses or segments. Therefore we can iterate through all segments modified above, to prune unneeded synpses and segments.
while (modifiedSegments.Count > 0)
{
// Get pointer to the current modified segment, and remove it from the modifiedSegments list.
segment = modifiedSegments[0];
modifiedSegments.RemoveAt(0);
// Remove from the current modified segment any synapses that have reached permanence of 0.
int synIndex = 0;
while (synIndex < segment.Synapses.Count)
{
Synapse syn = segment.Synapses[synIndex];
if (syn.Permanence == 0.0f)
{
// Remove and release the current synapse, whose permanence has reached 0.
segment.Synapses.RemoveAt(synIndex);
}
else
{
synIndex++;
}
}
// If this modified segment now has no synapses, remove the segment from this cell.
if (segment.Synapses.Count == 0)
{
this.Segments.Remove(segment);
}
}
}
else
{
// Not all of the segment updates have been processed, so synapses and segments cannot be pruned.
// (because they may be referred to by segment updates that still exist). So just clear the list of modified segments.
modifiedSegments.Clear();
}
}
/// <summary>
/// Performs temporal pooling based on the current spatial pooler output.
/// </summary>
/// <remarks>
/// From the Numenta white paper:
/// The input to this code is activeColumns(t), as computed by the spatial pooler.
/// The code computes the active and predictive state for each cell at the current
/// timestep, t. The boolean OR of the active and predictive states for each cell
/// forms the output of the temporal pooler for the next level.
/// Phase 1:
/// Compute the active state, activeState(t), for each cell.
/// The first phase calculates the activeState for each cell that is in a winning
/// column. For those columns, the code further selects one cell per column as the
/// learning cell (learnState). The logic is as follows: if the bottom-up input was
/// predicted by any cell (i.e. its predictiveState output was 1 due to a sequence
/// segmentUpdateList), then those cells become active (lines 23-27).
/// If that segmentUpdateList became active from cells chosen with learnState on,
/// this cell is selected as the learning cell (lines 28-30). If the bottom-up input
/// was not predicted, then all cells in the column become active (lines 32-34).
/// In addition, the best matching cell is chosen as the learning cell (lines 36-41)
/// and a new segmentUpdateList is added to that cell.
/// Phase 2:
/// Compute the predicted state, predictiveState(t), for each cell.
/// The second phase calculates the predictive state for each cell. A cell will turn
/// on its predictive state output if one of its segments becomes active, i.e. if
/// enough of its lateral inputs are currently active due to feed-forward input.
/// In this case, the cell queues up the following changes: a) reinforcement of the
/// currently active segmentUpdateList (lines 47-48), and b) reinforcement of a
/// segmentUpdateList that could have predicted this activation, i.e. a
/// segmentUpdateList that has a (potentially weak) match to activity during the
/// previous time step (lines 50-53).
/// Phase 3:
/// Update synapses. The third and last phase actually carries out learning. In this
/// phase segmentUpdateList updates that have been queued up are actually implemented
/// once we get feed-forward input and the cell is chosen as a learning cell
/// (lines 56-57). Otherwise, if the cell ever stops predicting for any reason, we
/// negatively reinforce the segments (lines 58-60).
/// </remarks>
public void PerformTemporalPooling()
{
int colIndex;
Column column;
Cell cell;
// Determine whether temporal learning is currently allowed.
bool allowTemporalLearning = Global.AllowTemporalLearning && ((this.TemporalLearningStartTime == -1) || (this.TemporalLearningStartTime <= this.StepCounter)) && ((this.TemporalLearningEndTime == -1) || (this.TemporalLearningEndTime >= this.StepCounter));
// Phase 1: Compute cell active states and segment learning updates
for (colIndex = 0; colIndex < this.SizeX * this.SizeY; colIndex++)
{
column = this.Columns[colIndex];
if (column.IsActive)
{
bool predicted = false;
bool learnCellChosen = false;
for (int cellIndex = 0; cellIndex < this.CellsPerCol; cellIndex++)
{
cell = column.Cells[cellIndex];
if (cell.WasPredicted)
{
Segment segment = cell.GetPreviousActiveSegment();
if ((segment != null) && segment.IsSequence)
{
predicted = true;
cell.IsActive = true;
if (allowTemporalLearning && segment.GetWasActiveFromLearning())
{
learnCellChosen = true;
cell.IsLearning = true;
}
}
}
}
if (!predicted)
{
for (int cellIndex = 0; cellIndex < this.CellsPerCol; cellIndex++)
{
cell = column.Cells[cellIndex];
cell.IsActive = true;
}
}
if (allowTemporalLearning && !learnCellChosen)
{
// isSequence=true, previous=true
Cell bestCell = null;
Segment bestSegment = null;
column.GetBestMatchingCell(1, true, out bestCell, out bestSegment);
if (Global.Debug)
{
Debug.Assert(bestCell != null);
}
bestCell.IsLearning = true;
// segmentToUpdate is added internally to the bestCell's update list.
// Then set number of prediction steps to 1 (meaning it's a sequence segment)
SegmentUpdateInfo segmentUpdateInfo = bestCell.UpdateSegmentActiveSynapses(true, bestSegment, true, UpdateType.DueToActive);
segmentUpdateInfo.NumPredictionSteps = 1;
}
}
}
// Phase 2: Compute the predicted state for each cell
for (colIndex = 0; colIndex < this.SizeX * this.SizeY; colIndex++)
{
column = this.Columns[colIndex];
for (int cellIndex = 0; cellIndex < this.CellsPerCol; cellIndex++)
{
cell = column.Cells[cellIndex];
// Process all segments on the cell to cache the activity for later.
foreach (Segment seg in cell.Segments)
{
seg.ProcessSegment();
}
foreach (Segment seg in cell.Segments)
{
// Now check for an active segment, we only need one for the cell to predict, but all Segments need to be checked
// so that a segment update will be created for each active segment, and so that the lowest numPredictionSteps
// among active segments is adopted by the cell.
if (seg.IsActive)
{
cell.SetIsPredicting(true, seg.NumPredictionSteps);
if (seg.IsSequence)
{
cell.IsSegmentPredicting = true;
}
// a) reinforcement of the currently active segments
if (allowTemporalLearning)
{
// Add segment update to this cell
cell.UpdateSegmentActiveSynapses(false, seg, false, UpdateType.DueToPredictive);
}
}
}
// b) reinforcement of a segment that could have predicted
// this activation, i.e. a segment that has a (potentially weak)
// match to activity during the previous time step (lines 50-53).
// NOTE: The check against MaxTimeSteps is a correctly functioning way of enforcing a maximum number of time steps,
// as opposed to the previous way of storing Max(numPredictionSteps, MaxTimeSteps) as a segment's numPredictionSteps,
// which caused inaccurate numPredictionSteps values to be stored, resulting in duplicate segments being created.
// Note also that if the system of recording and using an exact number of time steps is abandonded (and replaced with the
// original sequence/non-sequence system), then all references to MaxTimeSteps can be removed.
if (allowTemporalLearning && cell.IsPredicting && (cell.NumPredictionSteps != Segment.MaxTimeSteps))
{
Segment predictiveSegment = cell.GetBestMatchingPreviousSegment();
// Either update existing or add new segment for this cell considering
// only segments matching the number of prediction steps of the
// best currently active segment for this cell.
SegmentUpdateInfo predictiveSegUpdate = cell.UpdateSegmentActiveSynapses(true, predictiveSegment, true, UpdateType.DueToPredictive);
if (predictiveSegment == null)
{
predictiveSegUpdate.NumPredictionSteps = cell.NumPredictionSteps + 1;
}
}
}
}
// Phase 3: Update synapses
if (allowTemporalLearning)
{
for (colIndex = 0; colIndex < this.SizeX * this.SizeY; colIndex++)
{
column = this.Columns[colIndex];
for (int cellIndex = 0; cellIndex < this.CellsPerCol; cellIndex++)
{
cell = column.Cells[cellIndex];
if (cell.IsLearning)
{
cell.ApplySegmentUpdates(this.StepCounter, ApplyUpdateTrigger.Active);
}
else if ((cell.IsPredicting == false) && cell.WasPredicted)
{
cell.ApplySegmentUpdates(this.StepCounter, ApplyUpdateTrigger.Inactive);
}
else if (cell.IsPredicting && cell.WasPredicted && (cell.NumPredictionSteps > 1) && (cell.PrevNumPredictionSteps == 1))
{
cell.ApplySegmentUpdates(this.StepCounter, ApplyUpdateTrigger.LongerPrediction);
}
}
}
}
}