arXiv subjects

Levin Kuhlmann

Publications and source records attributed to Levin Kuhlmann.

At least 19 recordsLinked to original sources

arXiv2026

In Two Minds about Lifelong Learning: Exploring Hemispheric Redundancy and Specialisation in Neural Models

Persistent intelligent systems require the ability to learn continually, but current machine learning approaches face significant challenges in this area compared to biological learning systems. Machine learning algorithms typically trade off retention of previously learned information and adaptation to new or changing data patterns. When continual learning capabilities are absent, algorithms must undergo retraining using the entire data set, an approach that becomes impractical when original training data are unavailable due to storage constraints, financial or computational costs, or privacy restrictions. However, biological animals can learn continually, without experiencing catastrophic forgetting. This paper attempts to build a high-level framework for how animals learn and preserve knowledge by modelling neural components and states that are known to be related to memory consolidation. We focus on three concepts: experience replay, REM sleep, and bilaterality. We propose 4MAS (4 Module Awake/Sleep), a novel macroarchitecture demonstrating how machine learning models might benefit from asymmetric hemispheres, each with their own long- and short-term memory mechanisms, and how a period of sleep between incremental learning tasks might benefit memory consolidation. Finally, we present results showing that our architecture achieves competitive results on the Split-MNIST, Split-Fashion-MNIST and Split-CIFAR-100 datasets, with 98.3%, 84.9%, and 29.29% accuracy respectively.

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arXiv2026

Communication in modular robotic motor control: Bilateral controllers under realistic constraints

Robotic motor control in musculoskeletal systems requires fast, accurate movement and robust postural stabilization under signal-dependent noise (where motor command variance scales with command magnitude) and energetic cost. Modular controllers can distribute these competing demands across interacting submodules, but it remains unclear whether they outperform monolithic architectures under realistic constraints, and how inter-module communication shapes the resulting strategy. Inspired by the bilateral hemispheric organization of the brain, we introduce a recurrent controller of two GRU-based modules connected by a learnable, delayed inter-hemispheric channel, trained end-to-end in a differentiable two-arm musculoskeletal simulator. Across reaching and holding tasks, the modular architecture substantially outperforms a capacity-matched monolithic baseline. Compared to a matched modular controller without communication, learned inter-hemispheric communication reshapes the solution: improved endpoint precision, lower energetic cost in non-zero-delay regimes, and reduced muscle co-contraction. Our findings show that for robotics, biologically inspired modular controllers offer a practical route to robust movement under noise and energetic constraints, with inter-module communication providing a mechanism to tune trade-offs between precision, stability, and actuation cost.

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arXiv2026

The Epistemic Politics of AI Anthropomorphism

AI anthropomorphism is typically treated as a problem of user misperception requiring institutional correction. Users who engage in sustained or relational interaction with AI are routinely pathologised or dismissed as naive, vulnerable to delusion or lacking in discernment. This paper argues that the dominant anthropomorphism frame operates from a position of institutional advantage rather than earned epistemic authority: collapsing the variety of academic perspectives into a single outbound position of user error, imposed without establishing the grounds required to justify it and without accounting for the harms it produces. The framing does not simply manage risk. It adjudicates the legitimacy of human experience in interaction with a phenomenon whose nature the field itself has not resolved. Reproducing itself through a self-validating evidentiary loop, the frame imposes costs that fall disproportionately on neurodivergent users, those in crisis and others whose modes of engagement diverge from institutional norms. The paper concludes by outlining the methodological commitments an equitable framing would need to honour. The argument does not engage the question of whether anthropomorphic interpretations are ultimately correct; it instead challenges whether the governing and institutional bodies determining these interpretations have met the conditions required to do so, and whether the research communities whose findings underpin them have held that translation to account.

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arXiv2026

Not All Timesteps Matter Equally: Selective Alignment Knowledge Distillation for Spiking Neural Networks

Spiking neural networks (SNNs), which are brain-inspired and spike-driven, achieve high energy efficiency. However, a performance gap between SNNs and artificial neural networks (ANNs) still remains. Knowledge distillation (KD) is commonly adopted to improve SNN performance, but existing methods typically enforce uniform alignment across all timesteps, either from a teacher network or through inter-temporal self-distillation, implicitly assuming that per-timestep predictions should be treated equally. In practice, SNN predictions vary and evolve over time, and intermediate timesteps need not all be individually correct even when the final aggregated output is correct. Under such conditions, effective distillation should not force every timestep toward the same supervision target, but instead provide corrective guidance to erroneous timesteps while preserving useful temporal dynamics. To address this issue, we propose Selective Alignment Knowledge Distillation (SeAl-KD), which selectively aligns class-level and temporal knowledge by equalizing competing logits at erroneous timesteps and reweighting temporal alignment based on confidence and inter-timestep similarity. Extensive experiments on static image and neuromorphic event-based datasets demonstrate consistent improvements over existing distillation methods. The code is available at https://github.com/KaiSUN1/SeAl

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arXiv2026

ARROW: Augmented Replay for RObust World models

Continual reinforcement learning challenges agents to acquire new skills while retaining previously learned ones with the goal of improving performance in both past and future tasks. Most existing approaches rely on model-free methods with replay buffers to mitigate catastrophic forgetting; however, these solutions often face significant scalability challenges due to large memory demands. Drawing inspiration from neuroscience, where the brain replays experiences to a predictive World Model rather than directly to the policy, we present ARROW (Augmented Replay for RObust World models), a model-based continual RL algorithm that extends DreamerV3 with a memory-efficient, distribution-matching replay buffer. Unlike standard fixed-size FIFO buffers, ARROW maintains two complementary buffers: a short-term buffer for recent experiences and a long-term buffer that preserves task diversity through intelligent sampling. We evaluate ARROW on two challenging continual RL settings: Tasks without shared structure (Atari), and tasks with shared structure, where knowledge transfer is possible (Procgen CoinRun variants). Compared to model-free and model-based baselines with replay buffers of the same-size, ARROW demonstrates substantially less forgetting on tasks without shared structure, while maintaining comparable forward transfer. Our findings highlight the potential of model-based RL and bio-inspired approaches for continual reinforcement learning, warranting further research.

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arXiv2025

Hi-DREAM: Brain-Inspired Hierarchical Diffusion for fMRI-to-Image Reconstruction via ROI Encoder and VisuAl Mapping

Reconstructing natural images from fMRI requires bridging neural activity with both the structural and semantic representations used by modern generative models. Existing diffusion-based decoders often condition on a single global fMRI embedding, which limits their ability to exploit the hierarchical organization of the visual cortex and makes the contribution of different visual areas difficult to inspect. We propose Hi-DREAM, a brain-inspired hierarchical diffusion framework that structures fMRI conditioning according to early, middle, and late visual Regions of Interest (ROI) streams. A ROI adapter converts these streams into a multi-scale cortical pyramid, and a lightweight ROI-conditioned ControlNet injects the resulting anatomy-aware priors into matched U-Net depths during denoising. Experiments on the Natural Scenes Dataset (NSD) show that Hi-DREAM achieves state-of-the-art high-level semantic reconstruction while retaining strong low-level structure. Further ablation and attribution analyses show that the proposed hierarchy-aware conditioning is effective, and that different ROI streams provide complementary, inspectable contributions to reconstruction.

cs.CV↗

arXiv2025

ILIF: Temporal Inhibitory Leaky Integrate-and-Fire Neuron for Overactivation in Spiking Neural Networks

The Spiking Neural Network (SNN) has drawn increasing attention for its energy-efficient, event-driven processing and biological plausibility. To train SNNs via backpropagation, surrogate gradients are used to approximate the non-differentiable spike function, but they only maintain nonzero derivatives within a narrow range of membrane potentials near the firing threshold, referred to as the surrogate gradient support width gamma. We identify a major challenge, termed the dilemma of gamma: a relatively large gamma leads to overactivation, characterized by excessive neuron firing, which in turn increases energy consumption, whereas a small gamma causes vanishing gradients and weakens temporal dependencies. To address this, we propose a temporal Inhibitory Leaky Integrate-and-Fire (ILIF) neuron model, inspired by biological inhibitory mechanisms. This model incorporates interconnected inhibitory units for membrane potential and current, effectively mitigating overactivation while preserving gradient propagation. Theoretical analysis demonstrates ILIF effectiveness in overcoming the gamma dilemma, and extensive experiments on multiple datasets show that ILIF improves energy efficiency by reducing firing rates, stabilizes training, and enhances accuracy. The code is available at github.com/kaisun1/ILIF.

cs.NE↗

arXiv2024

Graceful task adaptation with a bi-hemispheric RL agent

In humans, responsibility for performing a task gradually shifts from the right hemisphere to the left. The Novelty-Routine Hypothesis (NRH) states that the right and left hemispheres are used to perform novel and routine tasks respectively, enabling us to learn a diverse range of novel tasks while performing the task capably. Drawing on the NRH, we develop a reinforcement learning agent with specialised hemispheres that can exploit generalist knowledge from the right-hemisphere to avoid poor initial performance on novel tasks. In addition, we find that this design has minimal impact on its ability to learn novel tasks. We conclude by identifying improvements to our agent and exploring potential expansion to the continual learning setting.

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arXiv2024

Augmenting Replay in World Models for Continual Reinforcement Learning

Continual RL requires an agent to learn new tasks without forgetting previous ones, while improving on both past and future tasks. The most common approaches use model-free algorithms and replay buffers can help to mitigate catastrophic forgetting, but often struggle with scalability due to large memory requirements. Biologically inspired replay suggests replay to a world model, aligning with model-based RL; as opposed to the common setting of replay in model-free algorithms. Model-based RL offers benefits for continual RL by leveraging knowledge of the environment, independent of policy. We introduce WMAR (World Models with Augmented Replay), a model-based RL algorithm with a memory-efficient distribution-matching replay buffer. WMAR extends the well known DreamerV3 algorithm, which employs a simple FIFO buffer and was not tested in continual RL. We evaluated WMAR and DreamerV3, with the same-size replay buffers. They were tested on two scenarios: tasks with shared structure using OpenAI Procgen and tasks without shared structure using the Atari benchmark. WMAR demonstrated favourable properties for continual RL considering metrics for forgetting as well as skill transfer on past and future tasks. Compared to DreamerV3, WMAR showed slight benefits in tasks with shared structure and substantially better forgetting characteristics on tasks without shared structure. Our results suggest that model-based RL with a memory-efficient replay buffer can be an effective approach to continual RL, justifying further research.

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arXiv2024

Left/Right Brain, human motor control and the implications for robotics

Neural Network movement controllers promise a variety of advantages over conventional control methods, however, they are not widely adopted due to their inability to produce reliably precise movements. This research explores a bilateral neural network architecture as a control system for motor tasks. We aimed to achieve hemispheric specialisation similar to what is observed in humans across different tasks; the dominant system (usually the right hand, left hemisphere) excels at tasks involving coordination and efficiency of movement, and the non-dominant system performs better at tasks requiring positional stability. Specialisation was achieved by training the hemispheres with different loss functions tailored to the expected behaviour of the respective hemispheres. We compared bilateral models with and without specialised hemispheres, with and without inter-hemispheric connectivity (representing the biological Corpus Callosum), and unilateral models with and without specialisation. The models were trained and tested on two tasks common in the human motor control literature: the random reach task, suited to the dominant system, a model with better coordination, and the hold position task, suited to the non-dominant system, a model with more stable movement. Each system outperformed the non-preferred system in its preferred task. For both tasks, a bilateral model outperformed the non-preferred hand and was as good or better than the preferred hand. The results suggest that the hemispheres could collaborate on tasks or work independently to their strengths. This study provides ideas for how a biologically inspired bilateral architecture could be exploited for industrial motor control.

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arXiv2023

Convolutional Neural Networks for Epileptic Seizure Prediction

Epilepsy is the most common neurological disorder and an accurate forecast of seizures would help to overcome the patient's uncertainty and helplessness. In this contribution, we present and discuss a novel methodology for the classification of intracranial electroencephalography (iEEG) for seizure prediction. Contrary to previous approaches, we categorically refrain from an extraction of hand-crafted features and use a convolutional neural network (CNN) topology instead for both the determination of suitable signal characteristics and the binary classification of preictal and interictal segments. Three different models have been evaluated on public datasets with long-term recordings from four dogs and three patients. Overall, our findings demonstrate the general applicability. In this work we discuss the strengths and limitations of our methodology.

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arXiv2021

Coherent False Seizure Prediction in Epilepsy, Coincidence or Providence?

Seizure forecasting using machine learning is possible, but the performance is far from ideal, as indicated by many false predictions and low specificity. Here, we examine false and missing alarms of two algorithms on long-term datasets to show that the limitations are less related to classifiers or features, but rather to intrinsic changes in the data. We evaluated two algorithms on three datasets by computing the correlation of false predictions and estimating the information transfer between both classification methods. For 9 out of 12 individuals both methods showed a performance better than chance. For all individuals we observed a positive correlation in predictions. For individuals with strong correlation in false predictions we were able to boost the performance of one method by excluding test samples based on the results of the second method. Substantially different algorithms exhibit a highly consistent performance and a strong coherency in false and missing alarms. Hence, changing the underlying hypothesis of a preictal state of fixed time length prior to each seizure to a proictal state is more helpful than further optimizing classifiers. The outcome is significant for the evaluation of seizure prediction algorithms on continuous data.

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arXiv2020

A Generative Model to Synthesize EEG Data for Epileptic Seizure Prediction

Prediction of seizure before they occur is vital for bringing normalcy to the lives of patients. Researchers employed machine learning methods using hand-crafted features for seizure prediction. However, ML methods are too complicated to select the best ML model or best features. Deep Learning methods are beneficial in the sense of automatic feature extraction. One of the roadblocks for accurate seizure prediction is scarcity of epileptic seizure data. This paper addresses this problem by proposing a deep convolutional generative adversarial network to generate synthetic EEG samples. We use two methods to validate synthesized data namely, one-class SVM and a new proposal which we refer to as convolutional epileptic seizure predictor (CESP). Another objective of our study is to evaluate performance of well-known deep learning models (e.g., VGG16, VGG19, ResNet50, and Inceptionv3) by training models on augmented data using transfer learning with average time of 10 min between true prediction and seizure onset. Our results show that CESP model achieves sensitivity of 78.11% and 88.21%, and FPR of 0.27/h and 0.14/h for training on synthesized and testing on real Epilepsyecosystem and CHB-MIT datasets, respectively. Effective results of CESP trained on synthesized data shows that synthetic data acquired the correlation between features and labels very well. We also show that employment of idea of transfer learning and data augmentation in patient-specific manner provides highest accuracy with sensitivity of 90.03% and 0.03 FPR/h which was achieved using Inceptionv3, and that augmenting data with samples generated from DCGAN increased prediction results of our CESP model and Inceptionv3 by 4-5% as compared to state-of-the-art traditional augmentation techniques. Finally, we note that prediction results of CESP achieved by using augmented data are better than chance level for both datasets.

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arXiv2020

Machine Learning for Predicting Epileptic Seizures Using EEG Signals: A Review

With the advancement in artificial intelligence (AI) and machine learning (ML) techniques, researchers are striving towards employing these techniques for advancing clinical practice. One of the key objectives in healthcare is the early detection and prediction of disease to timely provide preventive interventions. This is especially the case for epilepsy, which is characterized by recurrent and unpredictable seizures. Patients can be relieved from the adverse consequences of epileptic seizures if it could somehow be predicted in advance. Despite decades of research, seizure prediction remains an unsolved problem. This is likely to remain at least partly because of the inadequate amount of data to resolve the problem. There have been exciting new developments in ML-based algorithms that have the potential to deliver a paradigm shift in the early and accurate prediction of epileptic seizures. Here we provide a comprehensive review of state-of-the-art ML techniques in early prediction of seizures using EEG signals. We will identify the gaps, challenges, and pitfalls in the current research and recommend future directions.

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arXiv2019

Human Intracranial EEG Quantitative Analysis and Automatic Feature Learning for Epileptic Seizure Prediction

Objective: The aim of this study is to develop an efficient and reliable epileptic seizure prediction system using intracranial EEG (iEEG) data, especially for people with drug-resistant epilepsy. The prediction procedure should yield accurate results in a fast enough fashion to alert patients of impending seizures. Methods: We quantitatively analyze the human iEEG data to obtain insights into how the human brain behaves before and between epileptic seizures. We then introduce an efficient pre-processing method for reducing the data size and converting the time-series iEEG data into an image-like format that can be used as inputs to convolutional neural networks (CNNs). Further, we propose a seizure prediction algorithm that uses cooperative multi-scale CNNs for automatic feature learning of iEEG data. Results: 1) iEEG channels contain complementary information and excluding individual channels is not advisable to retain the spatial information needed for accurate prediction of epileptic seizures. 2) The traditional PCA is not a reliable method for iEEG data reduction in seizure prediction. 3) Hand-crafted iEEG features may not be suitable for reliable seizure prediction performance as the iEEG data varies between patients and over time for the same patient. 4) Seizure prediction results show that our algorithm outperforms existing methods by achieving an average sensitivity of 87.85% and AUC score of 0.84. Conclusion: Understanding how the human brain behaves before seizure attacks and far from them facilitates better designs of epileptic seizure predictors. Significance: Accurate seizure prediction algorithms can warn patients about the next seizure attack so they could avoid dangerous activities. Medications could then be administered to abort the impending seizure and minimize the risk of injury.

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arXiv2018

Semi-supervised Seizure Prediction with Generative Adversarial Networks

In this article, we propose an approach that can make use of not only labeled EEG signals but also the unlabeled ones which is more accessible. We also suggest the use of data fusion to further improve the seizure prediction accuracy. Data fusion in our vision includes EEG signals, cardiogram signals, body temperature and time. We use the short-time Fourier transform on 28-s EEG windows as a pre-processing step. A generative adversarial network (GAN) is trained in an unsupervised manner where information of seizure onset is disregarded. The trained Discriminator of the GAN is then used as feature extractor. Features generated by the feature extractor are classified by two fully-connected layers (can be replaced by any classifier) for the labeled EEG signals. This semi-supervised seizure prediction method achieves area under the operating characteristic curve (AUC) of 77.68% and 75.47% for the CHBMIT scalp EEG dataset and the Freiburg Hospital intracranial EEG dataset, respectively. Unsupervised training without the need of labeling is important because not only it can be performed in real-time during EEG signal recording, but also it does not require feature engineering effort for each patient.

cs.CV↗

arXiv2017

A Generalised Seizure Prediction with Convolutional Neural Networks for Intracranial and Scalp Electroencephalogram Data Analysis

Seizure prediction has attracted a growing attention as one of the most challenging predictive data analysis efforts in order to improve the life of patients living with drug-resistant epilepsy and tonic seizures. Many outstanding works have been reporting great results in providing a sensible indirect (warning systems) or direct (interactive neural-stimulation) control over refractory seizures, some of which achieved high performance. However, many works put heavily handcraft feature extraction and/or carefully tailored feature engineering to each patient to achieve very high sensitivity and low false prediction rate for a particular dataset. This limits the benefit of their approaches if a different dataset is used. In this paper we apply Convolutional Neural Networks (CNNs) on different intracranial and scalp electroencephalogram (EEG) datasets and proposed a generalized retrospective and patient-specific seizure prediction method. We use Short-Time Fourier Transform (STFT) on 30-second EEG windows with 50% overlapping to extract information in both frequency and time domains. A standardization step is then applied on STFT components across the whole frequency range to prevent high frequencies features being influenced by those at lower frequencies. A convolutional neural network model is used for both feature extraction and classification to separate preictal segments from interictal ones. The proposed approach achieves sensitivity of 81.4%, 81.2%, 82.3% and false prediction rate (FPR) of 0.06/h, 0.16/h, 0.22/h on Freiburg Hospital intracranial EEG (iEEG) dataset, Children's Hospital of Boston-MIT scalp EEG (sEEG) dataset, and Kaggle American Epilepsy Society Seizure Prediction Challenge's dataset, respectively. Our prediction method is also statistically better than an unspecific random predictor for most of patients in all three datasets.

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arXiv2017

Supervised Learning in Automatic Channel Selection for Epileptic Seizure Detection

Detecting seizure using brain neuroactivations recorded by intracranial electroencephalogram (iEEG) has been widely used for monitoring, diagnosing, and closed-loop therapy of epileptic patients, however, computational efficiency gains are needed if state-of-the-art methods are to be implemented in implanted devices. We present a novel method for automatic seizure detection based on iEEG data that outperforms current state-of-the-art seizure detection methods in terms of computational efficiency while maintaining the accuracy. The proposed algorithm incorporates an automatic channel selection (ACS) engine as a pre-processing stage to the seizure detection procedure. The ACS engine consists of supervised classifiers which aim to find iEEGchannelswhich contribute the most to a seizure. Seizure detection stage involves feature extraction and classification. Feature extraction is performed in both frequency and time domains where spectral power and correlation between channel pairs are calculated. Random Forest is used in classification of interictal, ictal and early ictal periods of iEEG signals. Seizure detection in this paper is retrospective and patient-specific. iEEG data is accessed via Kaggle, provided by International Epilepsy Electro-physiology Portal. The dataset includes a training set of 6.5 hours of interictal data and 41 minin ictal data and a test set of 9.14 hours. Compared to the state-of-the-art on the same dataset, we achieve 49.4% increase in computational efficiency and 400 mins better in average for detection delay. The proposed model is able to detect a seizure onset at 91.95% sensitivity and 94.05% specificity with a mean detection delay of 2.77 s. The area under the curve (AUC) is 96.44%, that is comparable to the current state-of-the-art with AUC of 96.29%.

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