Fig. 7
From: Accurate and efficient floor localization with scalable spiking graph neural networks
a Comparison of spiking and ramp activation functions: It can be observed that when the slope of the ramp function is sufficiently large, it approximates the spiking activation function; b Comparison of Spiking Activation Function Gradient and Surrogate Rectangular Function: When the width parameter is small, the figure of the rectangular function’s gradient is similar to that of the spiking activation function