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improvements by Dylan!
author Robert McIntyre <rlm@mit.edu>
date Fri, 21 Mar 2014 20:56:56 -0400
parents 435b5e22d72a
children 7410f0d8011c
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rlm@425 1 #+title: =CORTEX=
rlm@425 2 #+author: Robert McIntyre
rlm@425 3 #+email: rlm@mit.edu
rlm@425 4 #+description: Using embodied AI to facilitate Artificial Imagination.
rlm@425 5 #+keywords: AI, clojure, embodiment
rlm@422 6
rlm@425 7 * Artificial Imagination
rlm@422 8
rlm@425 9 Imagine watching a video of someone skateboarding. When you watch
rlm@425 10 the video, you can imagine yourself skateboarding, and your
rlm@425 11 knowledge of the human body and its dynamics guides your
rlm@425 12 interpretation of the scene. For example, even if the skateboarder
rlm@425 13 is partially occluded, you can infer the positions of his arms and
rlm@425 14 body from your own knowledge of how your body would be positioned if
rlm@425 15 you were skateboarding. If the skateboarder suffers an accident, you
rlm@425 16 wince in sympathy, imagining the pain your own body would experience
rlm@425 17 if it were in the same situation. This empathy with other people
rlm@425 18 guides our understanding of whatever they are doing because it is a
rlm@425 19 powerful constraint on what is probable and possible. In order to
rlm@425 20 make use of this powerful empathy constraint, I need a system that
rlm@425 21 can generate and make sense of sensory data from the many different
rlm@425 22 senses that humans possess. The two key proprieties of such a system
rlm@425 23 are /embodiment/ and /imagination/.
rlm@422 24
rlm@425 25 ** What is imagination?
rlm@422 26
rlm@425 27 One kind of imagination is /sympathetic/ imagination: you imagine
rlm@425 28 yourself in the position of something/someone you are
rlm@425 29 observing. This type of imagination comes into play when you follow
rlm@425 30 along visually when watching someone perform actions, or when you
rlm@425 31 sympathetically grimace when someone hurts themselves. This type of
rlm@425 32 imagination uses the constraints you have learned about your own
rlm@425 33 body to highly constrain the possibilities in whatever you are
rlm@425 34 seeing. It uses all your senses to including your senses of touch,
rlm@425 35 proprioception, etc. Humans are flexible when it comes to "putting
rlm@425 36 themselves in another's shoes," and can sympathetically understand
rlm@425 37 not only other humans, but entities ranging from animals to cartoon
rlm@425 38 characters to [[http://www.youtube.com/watch?v=0jz4HcwTQmU][single dots]] on a screen!
rlm@425 39
rlm@425 40
rlm@425 41 #+caption: A cat drinking some water. Identifying this action is beyond the state of the art for computers.
rlm@425 42 #+ATTR_LaTeX: :width 5cm
rlm@425 43 [[./images/cat-drinking.jpg]]
rlm@425 44
rlm@425 45
rlm@429 46 #+begin_listing
rlm@429 47 \caption{This is a basic test for the vision system. It only tests the vision-pipeline and does not deal with loading eyes from a blender file. The code creates two videos of the same rotating cube from different angles.}
rlm@425 48 #+name: test-1
rlm@425 49 #+begin_src clojure
rlm@425 50 (defn test-pipeline
rlm@425 51 "Testing vision:
rlm@425 52 Tests the vision system by creating two views of the same rotating
rlm@425 53 object from different angles and displaying both of those views in
rlm@425 54 JFrames.
rlm@425 55
rlm@425 56 You should see a rotating cube, and two windows,
rlm@425 57 each displaying a different view of the cube."
rlm@425 58 ([] (test-pipeline false))
rlm@425 59 ([record?]
rlm@425 60 (let [candy
rlm@425 61 (box 1 1 1 :physical? false :color ColorRGBA/Blue)]
rlm@425 62 (world
rlm@425 63 (doto (Node.)
rlm@425 64 (.attachChild candy))
rlm@425 65 {}
rlm@425 66 (fn [world]
rlm@425 67 (let [cam (.clone (.getCamera world))
rlm@425 68 width (.getWidth cam)
rlm@425 69 height (.getHeight cam)]
rlm@425 70 (add-camera! world cam
rlm@425 71 (comp
rlm@425 72 (view-image
rlm@425 73 (if record?
rlm@425 74 (File. "/home/r/proj/cortex/render/vision/1")))
rlm@425 75 BufferedImage!))
rlm@425 76 (add-camera! world
rlm@425 77 (doto (.clone cam)
rlm@425 78 (.setLocation (Vector3f. -10 0 0))
rlm@425 79 (.lookAt Vector3f/ZERO Vector3f/UNIT_Y))
rlm@425 80 (comp
rlm@425 81 (view-image
rlm@425 82 (if record?
rlm@425 83 (File. "/home/r/proj/cortex/render/vision/2")))
rlm@425 84 BufferedImage!))
rlm@425 85 (let [timer (IsoTimer. 60)]
rlm@425 86 (.setTimer world timer)
rlm@425 87 (display-dilated-time world timer))
rlm@425 88 ;; This is here to restore the main view
rlm@425 89 ;; after the other views have completed processing
rlm@425 90 (add-camera! world (.getCamera world) no-op)))
rlm@425 91 (fn [world tpf]
rlm@425 92 (.rotate candy (* tpf 0.2) 0 0))))))
rlm@425 93 #+end_src
rlm@429 94 #+end_listing
rlm@426 95
rlm@429 96 - This is test1 \cite{Tappert77}.
rlm@426 97
rlm@429 98 \cite{Tappert77}
rlm@429 99 lol
rlm@429 100 \citet{Tappert77}