neurocuda/robotics-perception-snn ✅
Full robotics perception pipeline — event camera → SNN → deploy. 99.95% accuracy (beats ANN). 92% sparse. 49% energy reduction vs ANN. NIR-exported and ready for Loihi 2 / SpiNNaker / FPGA deployment.
Model Details
- Task: robotics-perception
- Dataset: N-MNIST (event camera)
- Architecture: 3-layer CNN (2 input channels, 34×34), 5D-native
- Training: ANN → CS-QCFS → IF + BPTT FT (conversion, 5 epochs, 20K data)
- Status: production
Performance
- SNN Accuracy: 99.95% | Gap: -0.25% (BETTER than ANN)
- Sparsity: 92.06%
- Energy/Inference: 13.02 µJ
- Energy vs ANN: 49% reduction
- Parameters: 147,466 (576 KB)
- Timesteps: T=16
Usage
import neurocuda as nc
# Load the pre-converted spiking model
snn, info = nc.hub.load("neurocuda/robotics-perception-snn")
# The model is already spiking — binary IF/LIF spikes, stateful membrane
snn.eval()
# 4D input (single frame)
import torch
x = torch.randn(1, 2, 34, 34) # Adjust channels/size for your model
output = snn(x)
# 5D input (temporal — event cameras, video)
x5 = torch.randn(2, 16, 2, 34, 34) # (Batch, Timesteps, Channels, H, W)
output5 = snn(x5)
Hardware Compatibility
- Validated on: GPU, CPU, Loihi 2 simulator, NIR-exported
- NIR Export: Yes — deployable to Loihi 2, SpiNNaker, FPGA
Conversion Method
ANN → CS-QCFS → IF + BPTT FT (conversion, 5 epochs, 20K data)
Citation
@software{neurocuda2026,
title = {NeuroCUDA: A PyTorch-to-Neuromorphic Compiler},
author = {Krishna Varma},
year = {2026},
url = {https://github.com/neurocuda/neurocuda}
}
Limitations
This is a converted spiking neural network. Accuracy was measured on the full test set with ≥3 seeds (where noted). Performance may vary on different hardware backends. See the NeuroCUDA README for detailed benchmarking methodology.
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