The Heidelberg spiking datasets for the systematic evaluation of spiking neural networks
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Abstract (arXiv)
Spiking neural networks are the basis of versatile and power-efficient information processing in the brain. Although we currently lack a detailed understanding of how these networks compute, recently developed optimization techniques allow us to instantiate increasingly complex functional spiking neural networks in-silico. These methods hold the promise to build more efficient non-von-Neumann computing hardware and will offer new vistas in the quest of unraveling brain circuit function. To accelerate the development of such methods, objective ways to compare their performance are indispensable. Presently, however, there are no widely accepted means for comparing the computational performance of spiking neural networks. To address this issue, we introduce two spike-based classification datasets, broadly applicable to benchmark both software and neuromorphic hardware implementations of spiking neural networks. To accomplish this, we developed a general audio-to-spiking conversion procedure inspired by neurophysiology. Further, we applied this conversion to an existing and a novel speech dataset. The latter is the free, high-fidelity, and word-level aligned Heidelberg digit dataset that we created specifically for this study. By training a range of conventional and spiking classifiers, we show that leveraging spike timing information within these datasets is essential for good classification accuracy. These results serve as the first reference for future performance comparisons of spiking neural networks.
Key facts. Cited by 135 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Oct 2019.
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Citing papers per year: 2021: 9; 2022: 8; 2023: 25; 2024: 29; 2025: 39; 2026: 25.
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- 2021Training Spiking Neural Networks Using Lessons From Deep Learningcited by 251
- 2023SpikingJelly: An open-source machine learning infrastructure platform for spike-based intelligencecited by 163
- 2021Accurate and efficient time-domain classification with adaptive spiking recurrent neural networkscited by 113
- 2021Temporal-wise Attention Spiking Neural Networks for Event Streams Classificationcited by 106
- 2023Learning Delays in Spiking Neural Networks using Dilated Convolutions with Learnable Spacingscited by 48
- 2021Sparse Spiking Gradient Descentcited by 41
- 2024Scalable Event-by-event Processing of Neuromorphic Sensory Signals With Deep State-Space Modelscited by 31
- 2021Spiking Neural Networks with Improved Inherent Recurrence Dynamics for Sequential Learningcited by 27
- 2023NeuroBench: A Framework for Benchmarking Neuromorphic Computing Algorithms and Systemscited by 27
- 2021Bottom-up and top-down approaches for the design of neuromorphic processing systems: Tradeoffs and synergies between natural and artificial intelligencecited by 21
- 2022STSC-SNN: Spatio-Temporal Synaptic Connection with Temporal Convolution and Attention for Spiking Neural Networkscited by 20
- 2024S7: Selective and Simplified State Space Layers for Sequence Modelingcited by 17
38 more
- 2022Deep Reinforcement Learning with Spiking Q-learningcited by 15
- 2022Loss shaping enhances exact gradient learning with Eventprop in spiking neural networkscited by 13
- 2023Co-learning synaptic delays, weights and adaptation in spiking neural networkscited by 12
- 2024Balanced Resonate-and-Fire Neuronscited by 12
- 2025Rethinking Spiking Neural Networks from an Ensemble Learning Perspectivecited by 12
- 2023To Spike or Not To Spike: A Digital Hardware Perspective on Deep Learning Accelerationcited by 10
- 2024Fully Spiking Actor Network with Intra-layer Connections for Reinforcement Learningcited by 10
- 2021SpikE: spike-based embeddings for multi-relational graph datacited by 9
- 2023Online Spatio-Temporal Learning with Target Projectioncited by 9
- 2024DelGrad: Exact event-based gradients for training delays and weights on spiking neuromorphic hardwarecited by 9
- 2021WaveSense: Efficient Temporal Convolutions with Spiking Neural Networks for Keyword Spottingcited by 8
- 2022Braille Letter Reading: A Benchmark for Spatio-Temporal Pattern Recognition on Neuromorphic Hardwarecited by 8
- 2023Heterogeneous Neuronal and Synaptic Dynamics for Spike-Efficient Unsupervised Learning: Theory and Design Principlescited by 8
- 2023A Comprehensive Review of Spiking Neural Networks: Interpretation, Optimization, Efficiency, and Best Practicescited by 8
- 2022The fine line between dead neurons and sparsity in binarized spiking neural networkscited by 7
- 2023S-TLLR: STDP-inspired Temporal Local Learning Rule for Spiking Neural Networkscited by 7
- 2024Continual Learning with Neuromorphic Computing: Foundations, Methods, and Emerging Applicationscited by 7
- 2024Zero-Shot Temporal Resolution Domain Adaptation for Spiking Neural Networkscited by 6
- 2023The Expressive Leaky Memory Neuron: an Efficient and Expressive Phenomenological Neuron Model Can Solve Long-Horizon Taskscited by 5
- 2024Adapting to time: Why nature may have evolved a diverse set of neuronscited by 5
- 2025Backpropagation-free Spiking Neural Networks with the Forward-Forward Algorithmcited by 5
- 2022EXODUS: Stable and Efficient Training of Spiking Neural Networkscited by 4
- 2023Delayed Memory Unit: Modelling Temporal Dependency Through Delay Gatecited by 4
- 2023Harnessing Manycore Processors with Distributed Memory for Accelerated Training of Sparse and Recurrent Modelscited by 4
- 2023Addressing the speed-accuracy simulation trade-off for adaptive spiking neuronscited by 4
- 2024The Role of Temporal Hierarchy in Spiking Neural Networkscited by 4
- 2025Input-Triggered Hardware Trojan Attack on Spiking Neural Networkscited by 4
- 2025Scaling Up Resonate-and-Fire Networks for Fast Deep Learningcited by 4
- 2025State-Space Model Inspired Multiple-Input Multiple-Output Spiking Neuronscited by 4
- 2022Stabilizing Spiking Neuron Trainingcited by 3
- 2024Topological Representations of Heterogeneous Learning Dynamics of Recurrent Spiking Neural Networkscited by 3
- 2024SpikeExplorer: hardware-oriented Design Space Exploration for Spiking Neural Networks on FPGAcited by 3
- 2024Exploring the Limitations of Layer Synchronization in Spiking Neural Networkscited by 3
- 2024Optimal Gradient Checkpointing for Sparse and Recurrent Architectures using Off-Chip Memorycited by 3
- 2025Replay4NCL: An Efficient Memory Replay-based Methodology for Neuromorphic Continual Learning in Embedded AI Systemscited by 3
- 2025Three-Factor Learning in Spiking Neural Networks: An Overview of Methods and Trends from a Machine Learning Perspectivecited by 3
- 2025Beyond Rate Coding: Surrogate Gradients Enable Spike Timing Learning in Spiking Neural Networkscited by 3
- 2023Razor SNN: Efficient Spiking Neural Network with Temporal Embeddingscited by 2
50 most cited of 135 All 135 (JSON)
- 2026Stealth Is a Relation, Not a Property: How Event Representations Create Blind Spots for Timing Attacks in Event-Based Perception28 Sep 2026
- 2026Latency and accuracy tradeoffs in Spiking Neural Networks28 Sep 2026
- 2026NAVIR: Neuromorphic Audio-Visual Speech Recognition for Robust Human-Robot Interaction on Edge Hardware21 Sep 2026
- 2026On The Robustness-Resolution Tradeoff In Temporal Quantization Of Event Streams14 Sep 2026
- 2026A Gradient-based yet Spike-Timing-Dependent Solution to the Feedback Learning Problem in Neural Microcircuits8 Sep 2026
- 2026Conjoint Audio-to-Spikes Encoding and Processing for Efficient Neuromorphic Speech Recognition31 Aug 2026
- 2026SpikeWorld: Fast-State Adaptation for Frozen Spiking World Models7 Aug 2026
- 2026Driving up Inference Energy on SNNs: Per-Sample and Universal Sponge Attacks30 Jul 2026
- 2026VQ4SNN: Vector Quantization for Memory-Efficient FPGA Spiking Neural Networks12 Jun 2026
- 2026Spiking Neural Network inference on FPGAs with hls4ml8 Jun 2026
- 2026Quadratic integrate-and-fire neurons exhibit less fragmented loss landscapes and outperform leaky integrate-and-fire neurons in spike-based gradient descent2 Jun 2026
- 2026Scalable neuromorphic computing from autonomous spiking dynamics in a clockless reconfigurable chip15 May 2026
38 more
- 2026Federated Learning of Spiking Neural Networks under Heterogeneous Temporal Resolutions14 May 2026
- 2026Scaling Laws and Tradeoffs in Recurrent Networks of Expressive Neurons12 May 2026
- 2026TIDES: Implicit Time-Awareness in Selective State Space Models10 May 2026
- 2026End-to-End Keyword Spotting on FPGA Using Graph Neural Networks with a Neuromorphic Auditory Sensor10 May 2026
- 2026From Cortical Synchronous Rhythm to Brain Inspired Learning Mechanism: An Oscillatory Spiking Neural Network with Time-Delayed Coordination3 May 2026
- 2026minAction.net: Energy-First Neural Architecture Design -- From Biological Principles to Systematic Validation27 Apr 2026
- 2026CATFormer: When Continual Learning Meets Spiking Transformers With Dynamic Thresholds16 Mar 2026
- 2026Equivalence of approximation by networks of single- and multi-spike neurons13 Mar 2026
- 2026DendroNN: Dendrocentric Neural Networks for Energy-Efficient Classification of Event-Based Data10 Mar 2026
- 2026Bullet Trains: Parallelizing Training of Temporally Precise Spiking Neural Networks27 Feb 2026
- 2026LAND: A Longitudinal Analysis of Neuromorphic Datasets17 Feb 2026
- 2026SpikingGamma: Surrogate-Gradient Free and Temporally Precise Online Training of Spiking Neural Networks with Smoothed Delays2 Feb 2026
- 2026Three factor delay learning rules for spiking neural networks2 Jan 2026
- 2025SymSeqBench: a unified framework for the generation and analysis of rule-based symbolic sequences and datasets31 Dec 2025
- 2025Modality-Dependent Memory Mechanisms in Cross-Modal Neuromorphic Computing21 Dec 2025
- 2025Delays in Spiking Neural Networks: A State Space Model Approach1 Dec 2025
- 2025SpikCommander: A High-performance Spiking Transformer with Multi-view Learning for Efficient Speech Command Recognition11 Nov 2025
- 2025A High-Throughput Spiking Neural Network Processor Enabling Synaptic Delay Emulation3 Nov 2025
- 2025FeNN-DMA: A RISC-V SoC for SNN acceleration1 Nov 2025
- 2025Spiking Neural Networks: The Future of Brain-Inspired Computing31 Oct 2025
- 2025Convolutional Spiking-based GRU Cell for Spatio-temporal Data29 Oct 2025
- 2025A Complete Pipeline for deploying SNNs with Synaptic Delays on Loihi 215 Oct 2025
- 2025Efficient Training of Spiking Neural Networks by Spike-aware Data Pruning5 Oct 2025
- 2025Random Feature Spiking Neural Networks1 Oct 2025
- 2025Dendritic Resonate-and-Fire Neuron for Effective and Efficient Long Sequence Modeling21 Sep 2025
- 2025Traces Propagation: Memory-Efficient and Scalable Forward-Only Learning in Spiking Neural Networks16 Sep 2025
- 2025NSPDI-SNN: An efficient lightweight SNN based on nonlinear synaptic pruning and dendritic integration29 Aug 2025
- 2025HetSyn: Versatile Timescale Integration in Spiking Neural Networks via Heterogeneous Synapses1 Aug 2025
- 2025Beyond Rate Coding: Surrogate Gradients Enable Spike Timing Learning in Spiking Neural Networks21 Jul 2025
- 2025IML-Spikeformer: Input-aware Multi-Level Spiking Transformer for Speech Processing10 Jul 2025
- 2025QS4D: Quantization-aware training for efficient hardware deployment of structured state-space sequential models8 Jul 2025
- 2025mGRADE: Minimal Recurrent Gating Meets Delay Convolutions for Lightweight Sequence Modeling2 Jul 2025
- 2025Towards Efficient and Accurate Spiking Neural Networks via Adaptive Bit Allocation30 Jun 2025
- 2025Neuromorphic Wireless Split Computing with Resonate-and-Fire Neurons24 Jun 2025
- 2025FeNN: A RISC-V vector processor for Spiking Neural Network acceleration13 Jun 2025
- 2025SiLIF: Structured State Space Model Dynamics and Parametrization for Spiking Neural Networks4 Jun 2025
- 2025Bruno: Backpropagation Running Undersampled for Novel device Optimization23 May 2025
- 2025Input-Specific and Universal Adversarial Attack Generation for Spiking Neural Networks in the Spiking Domain7 May 2025
50 newest of 135 All 135 (JSON)
- 2025SiLIF: Structured State Space Model Dynamics and Parametrization for Spiking Neural Networkscited by 2
- 2025QS4D: Quantization-aware training for efficient hardware deployment of structured state-space sequential modelscited by 0
- 2026TIDES: Implicit Time-Awareness in Selective State Space Modelscited by 0
- 2026TIDES: Implicit Time-Awareness in Selective State Space Models10 May 2026
- 2025QS4D: Quantization-aware training for efficient hardware deployment of structured state-space sequential models8 Jul 2025
- 2025SiLIF: Structured State Space Model Dynamics and Parametrization for Spiking Neural Networks4 Jun 2025
- 2023Fully Spiking Denoising Diffusion Implicit Modelscited by 2
- 2023Fully Spiking Denoising Diffusion Implicit Models4 Dec 2023
- 2021Training Spiking Neural Networks Using Lessons From Deep Learningcited by 251
- 2023SpikingJelly: An open-source machine learning infrastructure platform for spike-based intelligencecited by 163
- 2021Accurate and efficient time-domain classification with adaptive spiking recurrent neural networkscited by 113
- 2021Temporal-wise Attention Spiking Neural Networks for Event Streams Classificationcited by 106
- 2023Learning Delays in Spiking Neural Networks using Dilated Convolutions with Learnable Spacingscited by 48
- 2021Sparse Spiking Gradient Descentcited by 41
- 2024Scalable Event-by-event Processing of Neuromorphic Sensory Signals With Deep State-Space Modelscited by 31
- 2021Spiking Neural Networks with Improved Inherent Recurrence Dynamics for Sequential Learningcited by 27
- 2023NeuroBench: A Framework for Benchmarking Neuromorphic Computing Algorithms and Systemscited by 27
- 2021Bottom-up and top-down approaches for the design of neuromorphic processing systems: Tradeoffs and synergies between natural and artificial intelligencecited by 21
- 2022STSC-SNN: Spatio-Temporal Synaptic Connection with Temporal Convolution and Attention for Spiking Neural Networkscited by 20
- 2024S7: Selective and Simplified State Space Layers for Sequence Modelingcited by 17
12 most cited of 130 All 130 (JSON)
- 2026Stealth Is a Relation, Not a Property: How Event Representations Create Blind Spots for Timing Attacks in Event-Based Perception28 Sep 2026
- 2026Latency and accuracy tradeoffs in Spiking Neural Networks28 Sep 2026
- 2026NAVIR: Neuromorphic Audio-Visual Speech Recognition for Robust Human-Robot Interaction on Edge Hardware21 Sep 2026
- 2026On The Robustness-Resolution Tradeoff In Temporal Quantization Of Event Streams14 Sep 2026
- 2026A Gradient-based yet Spike-Timing-Dependent Solution to the Feedback Learning Problem in Neural Microcircuits8 Sep 2026
- 2026Conjoint Audio-to-Spikes Encoding and Processing for Efficient Neuromorphic Speech Recognition31 Aug 2026
- 2026Driving up Inference Energy on SNNs: Per-Sample and Universal Sponge Attacks30 Jul 2026
- 2026VQ4SNN: Vector Quantization for Memory-Efficient FPGA Spiking Neural Networks12 Jun 2026
- 2026Spiking Neural Network inference on FPGAs with hls4ml8 Jun 2026
- 2026Quadratic integrate-and-fire neurons exhibit less fragmented loss landscapes and outperform leaky integrate-and-fire neurons in spike-based gradient descent2 Jun 2026
- 2026Scalable neuromorphic computing from autonomous spiking dynamics in a clockless reconfigurable chip15 May 2026
- 2026Federated Learning of Spiking Neural Networks under Heterogeneous Temporal Resolutions14 May 2026
12 newest of 130 All 130 (JSON)