cortex: thesis/cortex.org annotate

annotate thesis/cortex.org @ 466:da311eefbb09

finish body -- needs more work, but whatever.

author	Robert McIntyre <rlm@mit.edu>
date	Fri, 28 Mar 2014 13:16:37 -0400
parents	e4104ce9105c
children	ade64947d2bf

rev	line source
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@451	6 #+LaTeX_CLASS_OPTIONS: [nofloat]
rlm@422	7
rlm@465	8 * COMMENT templates
rlm@465	9 #+caption:
rlm@465	10 #+caption:
rlm@465	11 #+caption:
rlm@465	12 #+caption:
rlm@465	13 #+name: name
rlm@465	14 #+begin_listing clojure
rlm@465	15 #+begin_src clojure
rlm@465	16 #+end_src
rlm@465	17 #+end_listing
rlm@465	18
rlm@465	19 #+caption:
rlm@465	20 #+caption:
rlm@465	21 #+caption:
rlm@465	22 #+name: name
rlm@465	23 #+ATTR_LaTeX: :width 10cm
rlm@466	24 [[./images/aurellem-gray.png]]
rlm@465	25
rlm@465	26
rlm@465	27
rlm@465	28 * COMMENT Empathy and Embodiment as problem solving strategies
rlm@437	29
rlm@437	30 By the end of this thesis, you will have seen a novel approach to
rlm@437	31 interpreting video using embodiment and empathy. You will have also
rlm@437	32 seen one way to efficiently implement empathy for embodied
rlm@447	33 creatures. Finally, you will become familiar with =CORTEX=, a system
rlm@447	34 for designing and simulating creatures with rich senses, which you
rlm@447	35 may choose to use in your own research.
rlm@437	36
rlm@441	37 This is the core vision of my thesis: That one of the important ways
rlm@441	38 in which we understand others is by imagining ourselves in their
rlm@441	39 position and emphatically feeling experiences relative to our own
rlm@441	40 bodies. By understanding events in terms of our own previous
rlm@441	41 corporeal experience, we greatly constrain the possibilities of what
rlm@441	42 would otherwise be an unwieldy exponential search. This extra
rlm@441	43 constraint can be the difference between easily understanding what
rlm@441	44 is happening in a video and being completely lost in a sea of
rlm@441	45 incomprehensible color and movement.
rlm@435	46
rlm@436	47 ** Recognizing actions in video is extremely difficult
rlm@437	48
rlm@447	49 Consider for example the problem of determining what is happening
rlm@447	50 in a video of which this is one frame:
rlm@437	51
rlm@441	52 #+caption: A cat drinking some water. Identifying this action is
rlm@441	53 #+caption: beyond the state of the art for computers.
rlm@441	54 #+ATTR_LaTeX: :width 7cm
rlm@441	55 [[./images/cat-drinking.jpg]]
rlm@441	56
rlm@441	57 It is currently impossible for any computer program to reliably
rlm@447	58 label such a video as ``drinking''. And rightly so -- it is a very
rlm@441	59 hard problem! What features can you describe in terms of low level
rlm@441	60 functions of pixels that can even begin to describe at a high level
rlm@441	61 what is happening here?
rlm@437	62
rlm@447	63 Or suppose that you are building a program that recognizes chairs.
rlm@448	64 How could you ``see'' the chair in figure \ref{hidden-chair}?
rlm@441	65
rlm@441	66 #+caption: The chair in this image is quite obvious to humans, but I
rlm@448	67 #+caption: doubt that any modern computer vision program can find it.
rlm@441	68 #+name: hidden-chair
rlm@441	69 #+ATTR_LaTeX: :width 10cm
rlm@441	70 [[./images/fat-person-sitting-at-desk.jpg]]
rlm@441	71
rlm@441	72 Finally, how is it that you can easily tell the difference between
rlm@441	73 how the girls /muscles/ are working in figure \ref{girl}?
rlm@441	74
rlm@441	75 #+caption: The mysterious ``common sense'' appears here as you are able
rlm@441	76 #+caption: to discern the difference in how the girl's arm muscles
rlm@441	77 #+caption: are activated between the two images.
rlm@441	78 #+name: girl
rlm@448	79 #+ATTR_LaTeX: :width 7cm
rlm@441	80 [[./images/wall-push.png]]
rlm@437	81
rlm@441	82 Each of these examples tells us something about what might be going
rlm@441	83 on in our minds as we easily solve these recognition problems.
rlm@441	84
rlm@441	85 The hidden chairs show us that we are strongly triggered by cues
rlm@447	86 relating to the position of human bodies, and that we can determine
rlm@447	87 the overall physical configuration of a human body even if much of
rlm@447	88 that body is occluded.
rlm@437	89
rlm@441	90 The picture of the girl pushing against the wall tells us that we
rlm@441	91 have common sense knowledge about the kinetics of our own bodies.
rlm@441	92 We know well how our muscles would have to work to maintain us in
rlm@441	93 most positions, and we can easily project this self-knowledge to
rlm@441	94 imagined positions triggered by images of the human body.
rlm@441	95
rlm@441	96 ** =EMPATH= neatly solves recognition problems
rlm@441	97
rlm@441	98 I propose a system that can express the types of recognition
rlm@441	99 problems above in a form amenable to computation. It is split into
rlm@441	100 four parts:
rlm@441	101
rlm@448	102 - Free/Guided Play :: The creature moves around and experiences the
rlm@448	103 world through its unique perspective. Many otherwise
rlm@448	104 complicated actions are easily described in the language of a
rlm@448	105 full suite of body-centered, rich senses. For example,
rlm@448	106 drinking is the feeling of water sliding down your throat, and
rlm@448	107 cooling your insides. It's often accompanied by bringing your
rlm@448	108 hand close to your face, or bringing your face close to water.
rlm@448	109 Sitting down is the feeling of bending your knees, activating
rlm@448	110 your quadriceps, then feeling a surface with your bottom and
rlm@448	111 relaxing your legs. These body-centered action descriptions
rlm@448	112 can be either learned or hard coded.
rlm@448	113 - Posture Imitation :: When trying to interpret a video or image,
rlm@448	114 the creature takes a model of itself and aligns it with
rlm@448	115 whatever it sees. This alignment can even cross species, as
rlm@448	116 when humans try to align themselves with things like ponies,
rlm@448	117 dogs, or other humans with a different body type.
rlm@448	118 - Empathy :: The alignment triggers associations with
rlm@448	119 sensory data from prior experiences. For example, the
rlm@448	120 alignment itself easily maps to proprioceptive data. Any
rlm@448	121 sounds or obvious skin contact in the video can to a lesser
rlm@448	122 extent trigger previous experience. Segments of previous
rlm@448	123 experiences are stitched together to form a coherent and
rlm@448	124 complete sensory portrait of the scene.
rlm@448	125 - Recognition :: With the scene described in terms of first
rlm@448	126 person sensory events, the creature can now run its
rlm@447	127 action-identification programs on this synthesized sensory
rlm@447	128 data, just as it would if it were actually experiencing the
rlm@447	129 scene first-hand. If previous experience has been accurately
rlm@447	130 retrieved, and if it is analogous enough to the scene, then
rlm@447	131 the creature will correctly identify the action in the scene.
rlm@447	132
rlm@441	133 For example, I think humans are able to label the cat video as
rlm@447	134 ``drinking'' because they imagine /themselves/ as the cat, and
rlm@441	135 imagine putting their face up against a stream of water and
rlm@441	136 sticking out their tongue. In that imagined world, they can feel
rlm@441	137 the cool water hitting their tongue, and feel the water entering
rlm@447	138 their body, and are able to recognize that /feeling/ as drinking.
rlm@447	139 So, the label of the action is not really in the pixels of the
rlm@447	140 image, but is found clearly in a simulation inspired by those
rlm@447	141 pixels. An imaginative system, having been trained on drinking and
rlm@447	142 non-drinking examples and learning that the most important
rlm@447	143 component of drinking is the feeling of water sliding down one's
rlm@447	144 throat, would analyze a video of a cat drinking in the following
rlm@447	145 manner:
rlm@441	146
rlm@447	147 1. Create a physical model of the video by putting a ``fuzzy''
rlm@447	148 model of its own body in place of the cat. Possibly also create
rlm@447	149 a simulation of the stream of water.
rlm@441	150
rlm@441	151 2. Play out this simulated scene and generate imagined sensory
rlm@441	152 experience. This will include relevant muscle contractions, a
rlm@441	153 close up view of the stream from the cat's perspective, and most
rlm@441	154 importantly, the imagined feeling of water entering the
rlm@443	155 mouth. The imagined sensory experience can come from a
rlm@441	156 simulation of the event, but can also be pattern-matched from
rlm@441	157 previous, similar embodied experience.
rlm@441	158
rlm@441	159 3. The action is now easily identified as drinking by the sense of
rlm@441	160 taste alone. The other senses (such as the tongue moving in and
rlm@441	161 out) help to give plausibility to the simulated action. Note that
rlm@441	162 the sense of vision, while critical in creating the simulation,
rlm@441	163 is not critical for identifying the action from the simulation.
rlm@441	164
rlm@441	165 For the chair examples, the process is even easier:
rlm@441	166
rlm@441	167 1. Align a model of your body to the person in the image.
rlm@441	168
rlm@441	169 2. Generate proprioceptive sensory data from this alignment.
rlm@437	170
rlm@441	171 3. Use the imagined proprioceptive data as a key to lookup related
rlm@441	172 sensory experience associated with that particular proproceptive
rlm@441	173 feeling.
rlm@437	174
rlm@443	175 4. Retrieve the feeling of your bottom resting on a surface, your
rlm@443	176 knees bent, and your leg muscles relaxed.
rlm@437	177
rlm@441	178 5. This sensory information is consistent with the =sitting?=
rlm@441	179 sensory predicate, so you (and the entity in the image) must be
rlm@441	180 sitting.
rlm@440	181
rlm@441	182 6. There must be a chair-like object since you are sitting.
rlm@440	183
rlm@441	184 Empathy offers yet another alternative to the age-old AI
rlm@441	185 representation question: ``What is a chair?'' --- A chair is the
rlm@441	186 feeling of sitting.
rlm@441	187
rlm@441	188 My program, =EMPATH= uses this empathic problem solving technique
rlm@441	189 to interpret the actions of a simple, worm-like creature.
rlm@437	190
rlm@441	191 #+caption: The worm performs many actions during free play such as
rlm@441	192 #+caption: curling, wiggling, and resting.
rlm@441	193 #+name: worm-intro
rlm@446	194 #+ATTR_LaTeX: :width 15cm
rlm@445	195 [[./images/worm-intro-white.png]]
rlm@437	196
rlm@462	197 #+caption: =EMPATH= recognized and classified each of these
rlm@462	198 #+caption: poses by inferring the complete sensory experience
rlm@462	199 #+caption: from proprioceptive data.
rlm@441	200 #+name: worm-recognition-intro
rlm@446	201 #+ATTR_LaTeX: :width 15cm
rlm@445	202 [[./images/worm-poses.png]]
rlm@441	203
rlm@441	204 One powerful advantage of empathic problem solving is that it
rlm@441	205 factors the action recognition problem into two easier problems. To
rlm@441	206 use empathy, you need an /aligner/, which takes the video and a
rlm@441	207 model of your body, and aligns the model with the video. Then, you
rlm@441	208 need a /recognizer/, which uses the aligned model to interpret the
rlm@441	209 action. The power in this method lies in the fact that you describe
rlm@448	210 all actions form a body-centered viewpoint. You are less tied to
rlm@447	211 the particulars of any visual representation of the actions. If you
rlm@441	212 teach the system what ``running'' is, and you have a good enough
rlm@441	213 aligner, the system will from then on be able to recognize running
rlm@441	214 from any point of view, even strange points of view like above or
rlm@441	215 underneath the runner. This is in contrast to action recognition
rlm@448	216 schemes that try to identify actions using a non-embodied approach.
rlm@448	217 If these systems learn about running as viewed from the side, they
rlm@448	218 will not automatically be able to recognize running from any other
rlm@448	219 viewpoint.
rlm@441	220
rlm@441	221 Another powerful advantage is that using the language of multiple
rlm@441	222 body-centered rich senses to describe body-centerd actions offers a
rlm@441	223 massive boost in descriptive capability. Consider how difficult it
rlm@441	224 would be to compose a set of HOG filters to describe the action of
rlm@447	225 a simple worm-creature ``curling'' so that its head touches its
rlm@447	226 tail, and then behold the simplicity of describing thus action in a
rlm@441	227 language designed for the task (listing \ref{grand-circle-intro}):
rlm@441	228
rlm@446	229 #+caption: Body-centerd actions are best expressed in a body-centered
rlm@446	230 #+caption: language. This code detects when the worm has curled into a
rlm@446	231 #+caption: full circle. Imagine how you would replicate this functionality
rlm@446	232 #+caption: using low-level pixel features such as HOG filters!
rlm@446	233 #+name: grand-circle-intro
rlm@452	234 #+attr_latex: [htpb]
rlm@452	235 #+begin_listing clojure
rlm@446	236 #+begin_src clojure
rlm@446	237 (defn grand-circle?
rlm@446	238 "Does the worm form a majestic circle (one end touching the other)?"
rlm@446	239 [experiences]
rlm@446	240 (and (curled? experiences)
rlm@446	241 (let [worm-touch (:touch (peek experiences))
rlm@446	242 tail-touch (worm-touch 0)
rlm@446	243 head-touch (worm-touch 4)]
rlm@462	244 (and (< 0.2 (contact worm-segment-bottom-tip tail-touch))
rlm@462	245 (< 0.2 (contact worm-segment-top-tip head-touch))))))
rlm@446	246 #+end_src
rlm@446	247 #+end_listing
rlm@446	248
rlm@435	249
rlm@449	250 ** =CORTEX= is a toolkit for building sensate creatures
rlm@435	251
rlm@448	252 I built =CORTEX= to be a general AI research platform for doing
rlm@448	253 experiments involving multiple rich senses and a wide variety and
rlm@448	254 number of creatures. I intend it to be useful as a library for many
rlm@462	255 more projects than just this thesis. =CORTEX= was necessary to meet
rlm@462	256 a need among AI researchers at CSAIL and beyond, which is that
rlm@462	257 people often will invent neat ideas that are best expressed in the
rlm@448	258 language of creatures and senses, but in order to explore those
rlm@448	259 ideas they must first build a platform in which they can create
rlm@448	260 simulated creatures with rich senses! There are many ideas that
rlm@448	261 would be simple to execute (such as =EMPATH=), but attached to them
rlm@448	262 is the multi-month effort to make a good creature simulator. Often,
rlm@448	263 that initial investment of time proves to be too much, and the
rlm@448	264 project must make do with a lesser environment.
rlm@435	265
rlm@448	266 =CORTEX= is well suited as an environment for embodied AI research
rlm@448	267 for three reasons:
rlm@448	268
rlm@448	269 - You can create new creatures using Blender, a popular 3D modeling
rlm@448	270 program. Each sense can be specified using special blender nodes
rlm@448	271 with biologically inspired paramaters. You need not write any
rlm@448	272 code to create a creature, and can use a wide library of
rlm@448	273 pre-existing blender models as a base for your own creatures.
rlm@448	274
rlm@448	275 - =CORTEX= implements a wide variety of senses, including touch,
rlm@448	276 proprioception, vision, hearing, and muscle tension. Complicated
rlm@448	277 senses like touch, and vision involve multiple sensory elements
rlm@448	278 embedded in a 2D surface. You have complete control over the
rlm@448	279 distribution of these sensor elements through the use of simple
rlm@448	280 png image files. In particular, =CORTEX= implements more
rlm@448	281 comprehensive hearing than any other creature simulation system
rlm@448	282 available.
rlm@448	283
rlm@448	284 - =CORTEX= supports any number of creatures and any number of
rlm@448	285 senses. Time in =CORTEX= dialates so that the simulated creatures
rlm@448	286 always precieve a perfectly smooth flow of time, regardless of
rlm@448	287 the actual computational load.
rlm@448	288
rlm@448	289 =CORTEX= is built on top of =jMonkeyEngine3=, which is a video game
rlm@448	290 engine designed to create cross-platform 3D desktop games. =CORTEX=
rlm@448	291 is mainly written in clojure, a dialect of =LISP= that runs on the
rlm@448	292 java virtual machine (JVM). The API for creating and simulating
rlm@449	293 creatures and senses is entirely expressed in clojure, though many
rlm@449	294 senses are implemented at the layer of jMonkeyEngine or below. For
rlm@449	295 example, for the sense of hearing I use a layer of clojure code on
rlm@449	296 top of a layer of java JNI bindings that drive a layer of =C++=
rlm@449	297 code which implements a modified version of =OpenAL= to support
rlm@449	298 multiple listeners. =CORTEX= is the only simulation environment
rlm@449	299 that I know of that can support multiple entities that can each
rlm@449	300 hear the world from their own perspective. Other senses also
rlm@449	301 require a small layer of Java code. =CORTEX= also uses =bullet=, a
rlm@449	302 physics simulator written in =C=.
rlm@448	303
rlm@448	304 #+caption: Here is the worm from above modeled in Blender, a free
rlm@448	305 #+caption: 3D-modeling program. Senses and joints are described
rlm@448	306 #+caption: using special nodes in Blender.
rlm@448	307 #+name: worm-recognition-intro
rlm@448	308 #+ATTR_LaTeX: :width 12cm
rlm@448	309 [[./images/blender-worm.png]]
rlm@448	310
rlm@449	311 Here are some thing I anticipate that =CORTEX= might be used for:
rlm@449	312
rlm@449	313 - exploring new ideas about sensory integration
rlm@449	314 - distributed communication among swarm creatures
rlm@449	315 - self-learning using free exploration,
rlm@449	316 - evolutionary algorithms involving creature construction
rlm@449	317 - exploration of exoitic senses and effectors that are not possible
rlm@449	318 in the real world (such as telekenisis or a semantic sense)
rlm@449	319 - imagination using subworlds
rlm@449	320
rlm@451	321 During one test with =CORTEX=, I created 3,000 creatures each with
rlm@448	322 their own independent senses and ran them all at only 1/80 real
rlm@448	323 time. In another test, I created a detailed model of my own hand,
rlm@448	324 equipped with a realistic distribution of touch (more sensitive at
rlm@448	325 the fingertips), as well as eyes and ears, and it ran at around 1/4
rlm@451	326 real time.
rlm@448	327
rlm@451	328 #+BEGIN_LaTeX
rlm@449	329 \begin{sidewaysfigure}
rlm@449	330 \includegraphics[width=9.5in]{images/full-hand.png}
rlm@451	331 \caption{
rlm@451	332 I modeled my own right hand in Blender and rigged it with all the
rlm@451	333 senses that {\tt CORTEX} supports. My simulated hand has a
rlm@451	334 biologically inspired distribution of touch sensors. The senses are
rlm@451	335 displayed on the right, and the simulation is displayed on the
rlm@451	336 left. Notice that my hand is curling its fingers, that it can see
rlm@451	337 its own finger from the eye in its palm, and that it can feel its
rlm@451	338 own thumb touching its palm.}
rlm@449	339 \end{sidewaysfigure}
rlm@451	340 #+END_LaTeX
rlm@448	341
rlm@437	342 ** Contributions
rlm@435	343
rlm@451	344 - I built =CORTEX=, a comprehensive platform for embodied AI
rlm@451	345 experiments. =CORTEX= supports many features lacking in other
rlm@451	346 systems, such proper simulation of hearing. It is easy to create
rlm@451	347 new =CORTEX= creatures using Blender, a free 3D modeling program.
rlm@449	348
rlm@451	349 - I built =EMPATH=, which uses =CORTEX= to identify the actions of
rlm@451	350 a worm-like creature using a computational model of empathy.
rlm@449	351
rlm@436	352 * Building =CORTEX=
rlm@435	353
rlm@462	354 I intend for =CORTEX= to be used as a general purpose library for
rlm@462	355 building creatures and outfitting them with senses, so that it will
rlm@462	356 be useful for other researchers who want to test out ideas of their
rlm@462	357 own. To this end, wherver I have had to make archetictural choices
rlm@462	358 about =CORTEX=, I have chosen to give as much freedom to the user as
rlm@462	359 possible, so that =CORTEX= may be used for things I have not
rlm@462	360 forseen.
rlm@462	361
rlm@465	362 ** COMMENT Simulation or Reality?
rlm@462	363
rlm@462	364 The most important archetictural decision of all is the choice to
rlm@462	365 use a computer-simulated environemnt in the first place! The world
rlm@462	366 is a vast and rich place, and for now simulations are a very poor
rlm@462	367 reflection of its complexity. It may be that there is a significant
rlm@462	368 qualatative difference between dealing with senses in the real
rlm@462	369 world and dealing with pale facilimilies of them in a
rlm@462	370 simulation. What are the advantages and disadvantages of a
rlm@462	371 simulation vs. reality?
rlm@462	372
rlm@462	373 *** Simulation
rlm@462	374
rlm@462	375 The advantages of virtual reality are that when everything is a
rlm@462	376 simulation, experiments in that simulation are absolutely
rlm@462	377 reproducible. It's also easier to change the character and world
rlm@462	378 to explore new situations and different sensory combinations.
rlm@462	379
rlm@462	380 If the world is to be simulated on a computer, then not only do
rlm@462	381 you have to worry about whether the character's senses are rich
rlm@462	382 enough to learn from the world, but whether the world itself is
rlm@462	383 rendered with enough detail and realism to give enough working
rlm@462	384 material to the character's senses. To name just a few
rlm@462	385 difficulties facing modern physics simulators: destructibility of
rlm@462	386 the environment, simulation of water/other fluids, large areas,
rlm@462	387 nonrigid bodies, lots of objects, smoke. I don't know of any
rlm@462	388 computer simulation that would allow a character to take a rock
rlm@462	389 and grind it into fine dust, then use that dust to make a clay
rlm@462	390 sculpture, at least not without spending years calculating the
rlm@462	391 interactions of every single small grain of dust. Maybe a
rlm@462	392 simulated world with today's limitations doesn't provide enough
rlm@462	393 richness for real intelligence to evolve.
rlm@462	394
rlm@462	395 *** Reality
rlm@462	396
rlm@462	397 The other approach for playing with senses is to hook your
rlm@462	398 software up to real cameras, microphones, robots, etc., and let it
rlm@462	399 loose in the real world. This has the advantage of eliminating
rlm@462	400 concerns about simulating the world at the expense of increasing
rlm@462	401 the complexity of implementing the senses. Instead of just
rlm@462	402 grabbing the current rendered frame for processing, you have to
rlm@462	403 use an actual camera with real lenses and interact with photons to
rlm@462	404 get an image. It is much harder to change the character, which is
rlm@462	405 now partly a physical robot of some sort, since doing so involves
rlm@462	406 changing things around in the real world instead of modifying
rlm@462	407 lines of code. While the real world is very rich and definitely
rlm@462	408 provides enough stimulation for intelligence to develop as
rlm@462	409 evidenced by our own existence, it is also uncontrollable in the
rlm@462	410 sense that a particular situation cannot be recreated perfectly or
rlm@462	411 saved for later use. It is harder to conduct science because it is
rlm@462	412 harder to repeat an experiment. The worst thing about using the
rlm@462	413 real world instead of a simulation is the matter of time. Instead
rlm@462	414 of simulated time you get the constant and unstoppable flow of
rlm@462	415 real time. This severely limits the sorts of software you can use
rlm@462	416 to program the AI because all sense inputs must be handled in real
rlm@462	417 time. Complicated ideas may have to be implemented in hardware or
rlm@462	418 may simply be impossible given the current speed of our
rlm@462	419 processors. Contrast this with a simulation, in which the flow of
rlm@462	420 time in the simulated world can be slowed down to accommodate the
rlm@462	421 limitations of the character's programming. In terms of cost,
rlm@462	422 doing everything in software is far cheaper than building custom
rlm@462	423 real-time hardware. All you need is a laptop and some patience.
rlm@435	424
rlm@465	425 ** COMMENT Because of Time, simulation is perferable to reality
rlm@435	426
rlm@462	427 I envision =CORTEX= being used to support rapid prototyping and
rlm@462	428 iteration of ideas. Even if I could put together a well constructed
rlm@462	429 kit for creating robots, it would still not be enough because of
rlm@462	430 the scourge of real-time processing. Anyone who wants to test their
rlm@462	431 ideas in the real world must always worry about getting their
rlm@465	432 algorithms to run fast enough to process information in real time.
rlm@465	433 The need for real time processing only increases if multiple senses
rlm@465	434 are involved. In the extreme case, even simple algorithms will have
rlm@465	435 to be accelerated by ASIC chips or FPGAs, turning what would
rlm@465	436 otherwise be a few lines of code and a 10x speed penality into a
rlm@465	437 multi-month ordeal. For this reason, =CORTEX= supports
rlm@462	438 /time-dialiation/, which scales back the framerate of the
rlm@465	439 simulation in proportion to the amount of processing each frame.
rlm@465	440 From the perspective of the creatures inside the simulation, time
rlm@465	441 always appears to flow at a constant rate, regardless of how
rlm@462	442 complicated the envorimnent becomes or how many creatures are in
rlm@462	443 the simulation. The cost is that =CORTEX= can sometimes run slower
rlm@462	444 than real time. This can also be an advantage, however ---
rlm@462	445 simulations of very simple creatures in =CORTEX= generally run at
rlm@462	446 40x on my machine!
rlm@462	447
rlm@465	448 ** COMMENT Video game engines are a great starting point
rlm@462	449
rlm@462	450 I did not need to write my own physics simulation code or shader to
rlm@462	451 build =CORTEX=. Doing so would lead to a system that is impossible
rlm@462	452 for anyone but myself to use anyway. Instead, I use a video game
rlm@462	453 engine as a base and modify it to accomodate the additional needs
rlm@462	454 of =CORTEX=. Video game engines are an ideal starting point to
rlm@462	455 build =CORTEX=, because they are not far from being creature
rlm@463	456 building systems themselves.
rlm@462	457
rlm@462	458 First off, general purpose video game engines come with a physics
rlm@462	459 engine and lighting / sound system. The physics system provides
rlm@462	460 tools that can be co-opted to serve as touch, proprioception, and
rlm@462	461 muscles. Since some games support split screen views, a good video
rlm@462	462 game engine will allow you to efficiently create multiple cameras
rlm@463	463 in the simulated world that can be used as eyes. Video game systems
rlm@463	464 offer integrated asset management for things like textures and
rlm@463	465 creatures models, providing an avenue for defining creatures.
rlm@463	466 Finally, because video game engines support a large number of
rlm@463	467 users, if I don't stray too far from the base system, other
rlm@463	468 researchers can turn to this community for help when doing their
rlm@463	469 research.
rlm@463	470
rlm@465	471 ** COMMENT =CORTEX= is based on jMonkeyEngine3
rlm@463	472
rlm@463	473 While preparing to build =CORTEX= I studied several video game
rlm@463	474 engines to see which would best serve as a base. The top contenders
rlm@463	475 were:
rlm@463	476
rlm@463	477 - [[http://www.idsoftware.com][Quake II]]/[[http://www.bytonic.de/html/jake2.html][Jake2]] :: The Quake II engine was designed by ID
rlm@463	478 software in 1997. All the source code was released by ID
rlm@463	479 software into the Public Domain several years ago, and as a
rlm@463	480 result it has been ported to many different languages. This
rlm@463	481 engine was famous for its advanced use of realistic shading
rlm@463	482 and had decent and fast physics simulation. The main advantage
rlm@463	483 of the Quake II engine is its simplicity, but I ultimately
rlm@463	484 rejected it because the engine is too tied to the concept of a
rlm@463	485 first-person shooter game. One of the problems I had was that
rlm@463	486 there does not seem to be any easy way to attach multiple
rlm@463	487 cameras to a single character. There are also several physics
rlm@463	488 clipping issues that are corrected in a way that only applies
rlm@463	489 to the main character and do not apply to arbitrary objects.
rlm@463	490
rlm@463	491 - [[http://source.valvesoftware.com/][Source Engine]] :: The Source Engine evolved from the Quake II
rlm@463	492 and Quake I engines and is used by Valve in the Half-Life
rlm@463	493 series of games. The physics simulation in the Source Engine
rlm@463	494 is quite accurate and probably the best out of all the engines
rlm@463	495 I investigated. There is also an extensive community actively
rlm@463	496 working with the engine. However, applications that use the
rlm@463	497 Source Engine must be written in C++, the code is not open, it
rlm@463	498 only runs on Windows, and the tools that come with the SDK to
rlm@463	499 handle models and textures are complicated and awkward to use.
rlm@463	500
rlm@463	501 - [[http://jmonkeyengine.com/][jMonkeyEngine3]] :: jMonkeyEngine3 is a new library for creating
rlm@463	502 games in Java. It uses OpenGL to render to the screen and uses
rlm@463	503 screengraphs to avoid drawing things that do not appear on the
rlm@463	504 screen. It has an active community and several games in the
rlm@463	505 pipeline. The engine was not built to serve any particular
rlm@463	506 game but is instead meant to be used for any 3D game.
rlm@463	507
rlm@463	508 I chose jMonkeyEngine3 because it because it had the most features
rlm@464	509 out of all the free projects I looked at, and because I could then
rlm@463	510 write my code in clojure, an implementation of =LISP= that runs on
rlm@463	511 the JVM.
rlm@435	512
rlm@436	513 ** Bodies are composed of segments connected by joints
rlm@435	514
rlm@464	515 For the simple worm-like creatures I will use later on in this
rlm@464	516 thesis, I could define a simple API in =CORTEX= that would allow
rlm@464	517 one to create boxes, spheres, etc., and leave that API as the sole
rlm@464	518 way to create creatures. However, for =CORTEX= to truly be useful
rlm@464	519 for other projects, it needs to have a way to construct complicated
rlm@464	520 creatures. If possible, it would be nice to leverage work that has
rlm@464	521 already been done by the community of 3D modelers, or at least
rlm@464	522 enable people who are talented at moedling but not programming to
rlm@464	523 design =CORTEX= creatures.
rlm@464	524
rlm@464	525 Therefore, I use Blender, a free 3D modeling program, as the main
rlm@464	526 way to create creatures in =CORTEX=. However, the creatures modeled
rlm@464	527 in Blender must also be simple to simulate in jMonkeyEngine3's game
rlm@464	528 engine, and must also be easy to rig with =CORTEX='s senses.
rlm@464	529
rlm@464	530 While trying to find a good compromise for body-design, one option
rlm@464	531 I ultimately rejected is to use blender's [[http://wiki.blender.org/index.php/Doc:2.6/Manual/Rigging/Armatures][armature]] system. The idea
rlm@464	532 would have been to define a mesh which describes the creature's
rlm@466	533 entire body. To this you add a skeleton which deforms this mesh
rlm@466	534 (called rigging). This technique is used extensively to model
rlm@466	535 humans and create realistic animations. It is not a good technique
rlm@466	536 for physical simulation, because deformable surfaces are hard to
rlm@466	537 model. Humans work like a squishy bag with some hard bones to give
rlm@466	538 it shape. The bones are easy to simulate physically, but they
rlm@466	539 interact with thr world though the skin, which is contiguous, but
rlm@466	540 does not have a constant shape. In order to simulate skin you need
rlm@466	541 some way to continuously update the physical model of the skin
rlm@466	542 along with the movement of the bones. Given that bullet is
rlm@466	543 optimized for rigid, solid objects, this leads to unmanagable
rlm@466	544 computation and incorrect simulation.
rlm@464	545
rlm@464	546 Instead of using the human-like ``deformable bag of bones''
rlm@464	547 approach, I decided to base my body plans on multiple solid objects
rlm@464	548 that are connected by joints, inspired by the robot =EVE= from the
rlm@464	549 movie WALL-E.
rlm@464	550
rlm@464	551 #+caption: =EVE= from the movie WALL-E. This body plan turns
rlm@464	552 #+caption: out to be much better suited to my purposes than a more
rlm@464	553 #+caption: human-like one.
rlm@465	554 #+ATTR_LaTeX: :width 10cm
rlm@464	555 [[./images/Eve.jpg]]
rlm@464	556
rlm@464	557 =EVE='s body is composed of several rigid components that are held
rlm@464	558 together by invisible joint constraints. This is what I mean by
rlm@464	559 ``eve-like''. The main reason that I use eve-style bodies is for
rlm@464	560 efficiency, and so that there will be correspondence between the
rlm@464	561 AI's vision and the physical presence of its body. Each individual
rlm@464	562 section is simulated by a separate rigid body that corresponds
rlm@464	563 exactly with its visual representation and does not change.
rlm@464	564 Sections are connected by invisible joints that are well supported
rlm@464	565 in jMonkeyEngine3. Bullet, the physics backend for jMonkeyEngine3,
rlm@464	566 can efficiently simulate hundreds of rigid bodies connected by
rlm@464	567 joints. Sections do not have to stay as one piece forever; they can
rlm@464	568 be dynamically replaced with multiple sections to simulate
rlm@464	569 splitting in two. This could be used to simulate retractable claws
rlm@464	570 or =EVE='s hands, which are able to coalesce into one object in the
rlm@464	571 movie.
rlm@465	572
rlm@465	573 *** Solidifying/Connecting the body
rlm@465	574
rlm@465	575 Importing bodies from =CORTEX= into blender involves encoding
rlm@465	576 metadata into the blender file that specifies the mass of each
rlm@465	577 component and the joints by which those components are connected. I
rlm@465	578 do this in Blender in two ways. First is by using the ``metadata''
rlm@465	579 field of each solid object to specify the mass. Second is by using
rlm@465	580 Blender ``empty nodes'' to specify the position and type of each
rlm@465	581 joint. Empty nodes have no mass, physical presence, or appearance,
rlm@465	582 but they can hold metadata and have names. I use a tree structure
rlm@465	583 of empty nodes to specify joints. There is a parent node named
rlm@465	584 ``joints'', and a series of empty child nodes of the ``joints''
rlm@465	585 node that each represent a single joint.
rlm@465	586
rlm@465	587 #+caption: View of the hand model in Blender showing the main ``joints''
rlm@465	588 #+caption: node (highlighted in yellow) and its children which each
rlm@465	589 #+caption: represent a joint in the hand. Each joint node has metadata
rlm@465	590 #+caption: specifying what sort of joint it is.
rlm@466	591 #+name: blender-hand
rlm@465	592 #+ATTR_LaTeX: :width 10cm
rlm@465	593 [[./images/hand-screenshot1.png]]
rlm@465	594
rlm@465	595
rlm@466	596 =CORTEX= creates a creature in two steps: first, it traverses the
rlm@466	597 nodes in the blender file and creates physical representations for
rlm@466	598 any of them that have mass defined.
rlm@466	599
rlm@466	600 #+caption: Program for iterating through the nodes in a blender file
rlm@466	601 #+caption: and generating physical jMonkeyEngine3 objects with mass
rlm@466	602 #+caption: and a matching physics shape.
rlm@466	603 #+name: name
rlm@466	604 #+begin_listing clojure
rlm@466	605 #+begin_src clojure
rlm@466	606 (defn physical!
rlm@466	607 "Iterate through the nodes in creature and make them real physical
rlm@466	608 objects in the simulation."
rlm@466	609 [#^Node creature]
rlm@466	610 (dorun
rlm@466	611 (map
rlm@466	612 (fn [geom]
rlm@466	613 (let [physics-control
rlm@466	614 (RigidBodyControl.
rlm@466	615 (HullCollisionShape.
rlm@466	616 (.getMesh geom))
rlm@466	617 (if-let [mass (meta-data geom "mass")]
rlm@466	618 (float mass) (float 1)))]
rlm@466	619 (.addControl geom physics-control)))
rlm@466	620 (filter #(isa? (class %) Geometry )
rlm@466	621 (node-seq creature)))))
rlm@466	622 #+end_src
rlm@466	623 #+end_listing
rlm@465	624
rlm@466	625 The next step to making a proper body is to connect those pieces
rlm@466	626 together with joints. jMonkeyEngine has a large array of joints
rlm@466	627 available via =bullet=, such as Point2Point, Cone, Hinge, and a
rlm@466	628 generic Six Degree of Freedom joint, with or without spring
rlm@466	629 restitution. =CORTEX='s procedure for binding the creature together
rlm@466	630 with joints is as follows:
rlm@465	631
rlm@466	632 - Find the children of the "joints" node.
rlm@466	633 - Determine the two spatials the joint is meant to connect.
rlm@466	634 - Create the joint based on the meta-data of the empty node.
rlm@466	635
rlm@466	636 The higher order function =sense-nodes= from =cortex.sense=
rlm@466	637 simplifies finding the joints based on their parent ``joints''
rlm@466	638 node.
rlm@466	639
rlm@466	640 #+caption: Retrieving the children empty nodes from a single
rlm@466	641 #+caption: named empty node is a common pattern in =CORTEX=
rlm@466	642 #+caption: further instances of this technique for the senses
rlm@466	643 #+caption: will be omitted
rlm@466	644 #+name: get-empty-nodes
rlm@466	645 #+begin_listing clojure
rlm@466	646 #+begin_src clojure
rlm@466	647 (defn sense-nodes
rlm@466	648 "For some senses there is a special empty blender node whose
rlm@466	649 children are considered markers for an instance of that sense. This
rlm@466	650 function generates functions to find those children, given the name
rlm@466	651 of the special parent node."
rlm@466	652 [parent-name]
rlm@466	653 (fn [#^Node creature]
rlm@466	654 (if-let [sense-node (.getChild creature parent-name)]
rlm@466	655 (seq (.getChildren sense-node)) [])))
rlm@466	656
rlm@466	657 (def
rlm@466	658 ^{:doc "Return the children of the creature's \"joints\" node."
rlm@466	659 :arglists '([creature])}
rlm@466	660 joints
rlm@466	661 (sense-nodes "joints"))
rlm@466	662 #+end_src
rlm@466	663 #+end_listing
rlm@466	664
rlm@466	665 To find a joint's targets targets, =CORTEX= creates a small cube,
rlm@466	666 centered around the empty-node, and grows the cube exponentially
rlm@466	667 until it intersects two /physical/ objects. The objects are ordered
rlm@466	668 according to the joint's rotation, with the first one being the
rlm@466	669 object that has more negative coordinates in the joint's reference
rlm@466	670 frame. Since the objects must be physical, the empty-node itself
rlm@466	671 escapes detection. Because the objects must be physical,
rlm@466	672 =joint-targets= must be called /after/ =physical!= is called.
rlm@464	673
rlm@466	674 #+caption: Program to find the targets of a joint node by
rlm@466	675 #+caption: exponentiallly growth of a search cube.
rlm@466	676 #+name: joint-targets
rlm@466	677 #+begin_listing clojure
rlm@466	678 #+begin_src clojure
rlm@466	679 (defn joint-targets
rlm@466	680 "Return the two closest two objects to the joint object, ordered
rlm@466	681 from bottom to top according to the joint's rotation."
rlm@466	682 [#^Node parts #^Node joint]
rlm@466	683 (loop [radius (float 0.01)]
rlm@466	684 (let [results (CollisionResults.)]
rlm@466	685 (.collideWith
rlm@466	686 parts
rlm@466	687 (BoundingBox. (.getWorldTranslation joint)
rlm@466	688 radius radius radius) results)
rlm@466	689 (let [targets
rlm@466	690 (distinct
rlm@466	691 (map #(.getGeometry %) results))]
rlm@466	692 (if (>= (count targets) 2)
rlm@466	693 (sort-by
rlm@466	694 #(let [joint-ref-frame-position
rlm@466	695 (jme-to-blender
rlm@466	696 (.mult
rlm@466	697 (.inverse (.getWorldRotation joint))
rlm@466	698 (.subtract (.getWorldTranslation %)
rlm@466	699 (.getWorldTranslation joint))))]
rlm@466	700 (.dot (Vector3f. 1 1 1) joint-ref-frame-position))
rlm@466	701 (take 2 targets))
rlm@466	702 (recur (float (* radius 2))))))))
rlm@466	703 #+end_src
rlm@466	704 #+end_listing
rlm@464	705
rlm@466	706 Once =CORTEX= finds all joints and targets, it creates them using a
rlm@466	707 simple dispatch on the metadata of the joint node.
rlm@466	708
rlm@466	709 #+caption: Program to dispatch on blender metadata and create joints
rlm@466	710 #+caption: sutiable for physical simulation.
rlm@466	711 #+name: joint-dispatch
rlm@466	712 #+begin_listing clojure
rlm@466	713 #+begin_src clojure
rlm@466	714 (defmulti joint-dispatch
rlm@466	715 "Translate blender pseudo-joints into real JME joints."
rlm@466	716 (fn [constraints & _]
rlm@466	717 (:type constraints)))
rlm@466	718
rlm@466	719 (defmethod joint-dispatch :point
rlm@466	720 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@466	721 (doto (SixDofJoint. control-a control-b pivot-a pivot-b false)
rlm@466	722 (.setLinearLowerLimit Vector3f/ZERO)
rlm@466	723 (.setLinearUpperLimit Vector3f/ZERO)))
rlm@466	724
rlm@466	725 (defmethod joint-dispatch :hinge
rlm@466	726 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@466	727 (let [axis (if-let [axis (:axis constraints)] axis Vector3f/UNIT_X)
rlm@466	728 [limit-1 limit-2] (:limit constraints)
rlm@466	729 hinge-axis (.mult rotation (blender-to-jme axis))]
rlm@466	730 (doto (HingeJoint. control-a control-b pivot-a pivot-b
rlm@466	731 hinge-axis hinge-axis)
rlm@466	732 (.setLimit limit-1 limit-2))))
rlm@466	733
rlm@466	734 (defmethod joint-dispatch :cone
rlm@466	735 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@466	736 (let [limit-xz (:limit-xz constraints)
rlm@466	737 limit-xy (:limit-xy constraints)
rlm@466	738 twist (:twist constraints)]
rlm@466	739 (doto (ConeJoint. control-a control-b pivot-a pivot-b
rlm@466	740 rotation rotation)
rlm@466	741 (.setLimit (float limit-xz) (float limit-xy)
rlm@466	742 (float twist)))))
rlm@466	743 #+end_src
rlm@466	744 #+end_listing
rlm@466	745
rlm@466	746 All that is left for joints it to combine the above pieces into a
rlm@466	747 something that can operate on the collection of nodes that a
rlm@466	748 blender file represents.
rlm@466	749
rlm@466	750 #+caption: Program to completely create a joint given information
rlm@466	751 #+caption: from a blender file.
rlm@466	752 #+name: connect
rlm@466	753 #+begin_listing clojure
rlm@466	754 #+begin_src clojure
rlm@466	755 (defn connect
rlm@466	756 "Create a joint between 'obj-a and 'obj-b at the location of
rlm@466	757 'joint. The type of joint is determined by the metadata on 'joint.
rlm@466	758
rlm@466	759 Here are some examples:
rlm@466	760 {:type :point}
rlm@466	761 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@466	762 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@466	763
rlm@466	764 {:type :cone :limit-xz 0]
rlm@466	765 :limit-xy 0]
rlm@466	766 :twist 0]} (use XZY rotation mode in blender!)"
rlm@466	767 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@466	768 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@466	769 control-b (.getControl obj-b RigidBodyControl)
rlm@466	770 joint-center (.getWorldTranslation joint)
rlm@466	771 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@466	772 pivot-a (world-to-local obj-a joint-center)
rlm@466	773 pivot-b (world-to-local obj-b joint-center)]
rlm@466	774 (if-let
rlm@466	775 [constraints (map-vals eval (read-string (meta-data joint "joint")))]
rlm@466	776 ;; A side-effect of creating a joint registers
rlm@466	777 ;; it with both physics objects which in turn
rlm@466	778 ;; will register the joint with the physics system
rlm@466	779 ;; when the simulation is started.
rlm@466	780 (joint-dispatch constraints
rlm@466	781 control-a control-b
rlm@466	782 pivot-a pivot-b
rlm@466	783 joint-rotation))))
rlm@466	784 #+end_src
rlm@466	785 #+end_listing
rlm@466	786
rlm@466	787 In general, whenever =CORTEX= exposes a sense (or in this case
rlm@466	788 physicality), it provides a function of the type =sense!=, which
rlm@466	789 takes in a collection of nodes and augments it to support that
rlm@466	790 sense. The function returns any controlls necessary to use that
rlm@466	791 sense. In this case =body!= cerates a physical body and returns no
rlm@466	792 control functions.
rlm@466	793
rlm@466	794 #+caption: Program to give joints to a creature.
rlm@466	795 #+name: name
rlm@466	796 #+begin_listing clojure
rlm@466	797 #+begin_src clojure
rlm@466	798 (defn joints!
rlm@466	799 "Connect the solid parts of the creature with physical joints. The
rlm@466	800 joints are taken from the \"joints\" node in the creature."
rlm@466	801 [#^Node creature]
rlm@466	802 (dorun
rlm@466	803 (map
rlm@466	804 (fn [joint]
rlm@466	805 (let [[obj-a obj-b] (joint-targets creature joint)]
rlm@466	806 (connect obj-a obj-b joint)))
rlm@466	807 (joints creature))))
rlm@466	808 (defn body!
rlm@466	809 "Endow the creature with a physical body connected with joints. The
rlm@466	810 particulars of the joints and the masses of each body part are
rlm@466	811 determined in blender."
rlm@466	812 [#^Node creature]
rlm@466	813 (physical! creature)
rlm@466	814 (joints! creature))
rlm@466	815 #+end_src
rlm@466	816 #+end_listing
rlm@466	817
rlm@466	818 All of the code you have just seen amounts to only 130 lines, yet
rlm@466	819 because it builds on top of Blender and jMonkeyEngine3, those few
rlm@466	820 lines pack quite a punch!
rlm@466	821
rlm@466	822 The hand from figure \ref{blender-hand}, which was modeled after my
rlm@466	823 own right hand, can now be given joints and simulated as a
rlm@466	824 creature.
rlm@466	825
rlm@466	826 #+caption: With the ability to create physical creatures from blender,
rlm@466	827 #+caption: =CORTEX= gets one step closer to a full creature simulation
rlm@466	828 #+caption: environment.
rlm@466	829 #+name: name
rlm@466	830 #+ATTR_LaTeX: :width 15cm
rlm@466	831 [[./images/physical-hand.png]]
rlm@466	832
rlm@464	833
rlm@436	834 ** Eyes reuse standard video game components
rlm@436	835
rlm@436	836 ** Hearing is hard; =CORTEX= does it right
rlm@436	837
rlm@436	838 ** Touch uses hundreds of hair-like elements
rlm@436	839
rlm@440	840 ** Proprioception is the sense that makes everything ``real''
rlm@436	841
rlm@436	842 ** Muscles are both effectors and sensors
rlm@436	843
rlm@436	844 ** =CORTEX= brings complex creatures to life!
rlm@436	845
rlm@436	846 ** =CORTEX= enables many possiblities for further research
rlm@435	847
rlm@465	848 * COMMENT Empathy in a simulated worm
rlm@435	849
rlm@449	850 Here I develop a computational model of empathy, using =CORTEX= as a
rlm@449	851 base. Empathy in this context is the ability to observe another
rlm@449	852 creature and infer what sorts of sensations that creature is
rlm@449	853 feeling. My empathy algorithm involves multiple phases. First is
rlm@449	854 free-play, where the creature moves around and gains sensory
rlm@449	855 experience. From this experience I construct a representation of the
rlm@449	856 creature's sensory state space, which I call \Phi-space. Using
rlm@449	857 \Phi-space, I construct an efficient function which takes the
rlm@449	858 limited data that comes from observing another creature and enriches
rlm@449	859 it full compliment of imagined sensory data. I can then use the
rlm@449	860 imagined sensory data to recognize what the observed creature is
rlm@449	861 doing and feeling, using straightforward embodied action predicates.
rlm@449	862 This is all demonstrated with using a simple worm-like creature, and
rlm@449	863 recognizing worm-actions based on limited data.
rlm@449	864
rlm@449	865 #+caption: Here is the worm with which we will be working.
rlm@449	866 #+caption: It is composed of 5 segments. Each segment has a
rlm@449	867 #+caption: pair of extensor and flexor muscles. Each of the
rlm@449	868 #+caption: worm's four joints is a hinge joint which allows
rlm@451	869 #+caption: about 30 degrees of rotation to either side. Each segment
rlm@449	870 #+caption: of the worm is touch-capable and has a uniform
rlm@449	871 #+caption: distribution of touch sensors on each of its faces.
rlm@449	872 #+caption: Each joint has a proprioceptive sense to detect
rlm@449	873 #+caption: relative positions. The worm segments are all the
rlm@449	874 #+caption: same except for the first one, which has a much
rlm@449	875 #+caption: higher weight than the others to allow for easy
rlm@449	876 #+caption: manual motor control.
rlm@449	877 #+name: basic-worm-view
rlm@449	878 #+ATTR_LaTeX: :width 10cm
rlm@449	879 [[./images/basic-worm-view.png]]
rlm@449	880
rlm@449	881 #+caption: Program for reading a worm from a blender file and
rlm@449	882 #+caption: outfitting it with the senses of proprioception,
rlm@449	883 #+caption: touch, and the ability to move, as specified in the
rlm@449	884 #+caption: blender file.
rlm@449	885 #+name: get-worm
rlm@449	886 #+begin_listing clojure
rlm@449	887 #+begin_src clojure
rlm@449	888 (defn worm []
rlm@449	889 (let [model (load-blender-model "Models/worm/worm.blend")]
rlm@449	890 {:body (doto model (body!))
rlm@449	891 :touch (touch! model)
rlm@449	892 :proprioception (proprioception! model)
rlm@449	893 :muscles (movement! model)}))
rlm@449	894 #+end_src
rlm@449	895 #+end_listing
rlm@452	896
rlm@436	897 ** Embodiment factors action recognition into managable parts
rlm@435	898
rlm@449	899 Using empathy, I divide the problem of action recognition into a
rlm@449	900 recognition process expressed in the language of a full compliment
rlm@449	901 of senses, and an imaganitive process that generates full sensory
rlm@449	902 data from partial sensory data. Splitting the action recognition
rlm@449	903 problem in this manner greatly reduces the total amount of work to
rlm@449	904 recognize actions: The imaganitive process is mostly just matching
rlm@449	905 previous experience, and the recognition process gets to use all
rlm@449	906 the senses to directly describe any action.
rlm@449	907
rlm@436	908 ** Action recognition is easy with a full gamut of senses
rlm@435	909
rlm@449	910 Embodied representations using multiple senses such as touch,
rlm@449	911 proprioception, and muscle tension turns out be be exceedingly
rlm@449	912 efficient at describing body-centered actions. It is the ``right
rlm@449	913 language for the job''. For example, it takes only around 5 lines
rlm@449	914 of LISP code to describe the action of ``curling'' using embodied
rlm@451	915 primitives. It takes about 10 lines to describe the seemingly
rlm@449	916 complicated action of wiggling.
rlm@449	917
rlm@449	918 The following action predicates each take a stream of sensory
rlm@449	919 experience, observe however much of it they desire, and decide
rlm@449	920 whether the worm is doing the action they describe. =curled?=
rlm@449	921 relies on proprioception, =resting?= relies on touch, =wiggling?=
rlm@449	922 relies on a fourier analysis of muscle contraction, and
rlm@449	923 =grand-circle?= relies on touch and reuses =curled?= as a gaurd.
rlm@449	924
rlm@449	925 #+caption: Program for detecting whether the worm is curled. This is the
rlm@449	926 #+caption: simplest action predicate, because it only uses the last frame
rlm@449	927 #+caption: of sensory experience, and only uses proprioceptive data. Even
rlm@449	928 #+caption: this simple predicate, however, is automatically frame
rlm@449	929 #+caption: independent and ignores vermopomorphic differences such as
rlm@449	930 #+caption: worm textures and colors.
rlm@449	931 #+name: curled
rlm@452	932 #+attr_latex: [htpb]
rlm@452	933 #+begin_listing clojure
rlm@449	934 #+begin_src clojure
rlm@449	935 (defn curled?
rlm@449	936 "Is the worm curled up?"
rlm@449	937 [experiences]
rlm@449	938 (every?
rlm@449	939 (fn [[_ _ bend]]
rlm@449	940 (> (Math/sin bend) 0.64))
rlm@449	941 (:proprioception (peek experiences))))
rlm@449	942 #+end_src
rlm@449	943 #+end_listing
rlm@449	944
rlm@449	945 #+caption: Program for summarizing the touch information in a patch
rlm@449	946 #+caption: of skin.
rlm@449	947 #+name: touch-summary
rlm@452	948 #+attr_latex: [htpb]
rlm@452	949
rlm@452	950 #+begin_listing clojure
rlm@449	951 #+begin_src clojure
rlm@449	952 (defn contact
rlm@449	953 "Determine how much contact a particular worm segment has with
rlm@449	954 other objects. Returns a value between 0 and 1, where 1 is full
rlm@449	955 contact and 0 is no contact."
rlm@449	956 [touch-region [coords contact :as touch]]
rlm@449	957 (-> (zipmap coords contact)
rlm@449	958 (select-keys touch-region)
rlm@449	959 (vals)
rlm@449	960 (#(map first %))
rlm@449	961 (average)
rlm@449	962 (* 10)
rlm@449	963 (- 1)
rlm@449	964 (Math/abs)))
rlm@449	965 #+end_src
rlm@449	966 #+end_listing
rlm@449	967
rlm@449	968
rlm@449	969 #+caption: Program for detecting whether the worm is at rest. This program
rlm@449	970 #+caption: uses a summary of the tactile information from the underbelly
rlm@449	971 #+caption: of the worm, and is only true if every segment is touching the
rlm@449	972 #+caption: floor. Note that this function contains no references to
rlm@449	973 #+caption: proprioction at all.
rlm@449	974 #+name: resting
rlm@452	975 #+attr_latex: [htpb]
rlm@452	976 #+begin_listing clojure
rlm@449	977 #+begin_src clojure
rlm@449	978 (def worm-segment-bottom (rect-region [8 15] [14 22]))
rlm@449	979
rlm@449	980 (defn resting?
rlm@449	981 "Is the worm resting on the ground?"
rlm@449	982 [experiences]
rlm@449	983 (every?
rlm@449	984 (fn [touch-data]
rlm@449	985 (< 0.9 (contact worm-segment-bottom touch-data)))
rlm@449	986 (:touch (peek experiences))))
rlm@449	987 #+end_src
rlm@449	988 #+end_listing
rlm@449	989
rlm@449	990 #+caption: Program for detecting whether the worm is curled up into a
rlm@449	991 #+caption: full circle. Here the embodied approach begins to shine, as
rlm@449	992 #+caption: I am able to both use a previous action predicate (=curled?=)
rlm@449	993 #+caption: as well as the direct tactile experience of the head and tail.
rlm@449	994 #+name: grand-circle
rlm@452	995 #+attr_latex: [htpb]
rlm@452	996 #+begin_listing clojure
rlm@449	997 #+begin_src clojure
rlm@449	998 (def worm-segment-bottom-tip (rect-region [15 15] [22 22]))
rlm@449	999
rlm@449	1000 (def worm-segment-top-tip (rect-region [0 15] [7 22]))
rlm@449	1001
rlm@449	1002 (defn grand-circle?
rlm@449	1003 "Does the worm form a majestic circle (one end touching the other)?"
rlm@449	1004 [experiences]
rlm@449	1005 (and (curled? experiences)
rlm@449	1006 (let [worm-touch (:touch (peek experiences))
rlm@449	1007 tail-touch (worm-touch 0)
rlm@449	1008 head-touch (worm-touch 4)]
rlm@449	1009 (and (< 0.55 (contact worm-segment-bottom-tip tail-touch))
rlm@449	1010 (< 0.55 (contact worm-segment-top-tip head-touch))))))
rlm@449	1011 #+end_src
rlm@449	1012 #+end_listing
rlm@449	1013
rlm@449	1014
rlm@449	1015 #+caption: Program for detecting whether the worm has been wiggling for
rlm@449	1016 #+caption: the last few frames. It uses a fourier analysis of the muscle
rlm@449	1017 #+caption: contractions of the worm's tail to determine wiggling. This is
rlm@449	1018 #+caption: signigicant because there is no particular frame that clearly
rlm@449	1019 #+caption: indicates that the worm is wiggling --- only when multiple frames
rlm@449	1020 #+caption: are analyzed together is the wiggling revealed. Defining
rlm@449	1021 #+caption: wiggling this way also gives the worm an opportunity to learn
rlm@449	1022 #+caption: and recognize ``frustrated wiggling'', where the worm tries to
rlm@449	1023 #+caption: wiggle but can't. Frustrated wiggling is very visually different
rlm@449	1024 #+caption: from actual wiggling, but this definition gives it to us for free.
rlm@449	1025 #+name: wiggling
rlm@452	1026 #+attr_latex: [htpb]
rlm@452	1027 #+begin_listing clojure
rlm@449	1028 #+begin_src clojure
rlm@449	1029 (defn fft [nums]
rlm@449	1030 (map
rlm@449	1031 #(.getReal %)
rlm@449	1032 (.transform
rlm@449	1033 (FastFourierTransformer. DftNormalization/STANDARD)
rlm@449	1034 (double-array nums) TransformType/FORWARD)))
rlm@449	1035
rlm@449	1036 (def indexed (partial map-indexed vector))
rlm@449	1037
rlm@449	1038 (defn max-indexed [s]
rlm@449	1039 (first (sort-by (comp - second) (indexed s))))
rlm@449	1040
rlm@449	1041 (defn wiggling?
rlm@449	1042 "Is the worm wiggling?"
rlm@449	1043 [experiences]
rlm@449	1044 (let [analysis-interval 0x40]
rlm@449	1045 (when (> (count experiences) analysis-interval)
rlm@449	1046 (let [a-flex 3
rlm@449	1047 a-ex 2
rlm@449	1048 muscle-activity
rlm@449	1049 (map :muscle (vector:last-n experiences analysis-interval))
rlm@449	1050 base-activity
rlm@449	1051 (map #(- (% a-flex) (% a-ex)) muscle-activity)]
rlm@449	1052 (= 2
rlm@449	1053 (first
rlm@449	1054 (max-indexed
rlm@449	1055 (map #(Math/abs %)
rlm@449	1056 (take 20 (fft base-activity))))))))))
rlm@449	1057 #+end_src
rlm@449	1058 #+end_listing
rlm@449	1059
rlm@449	1060 With these action predicates, I can now recognize the actions of
rlm@449	1061 the worm while it is moving under my control and I have access to
rlm@449	1062 all the worm's senses.
rlm@449	1063
rlm@449	1064 #+caption: Use the action predicates defined earlier to report on
rlm@449	1065 #+caption: what the worm is doing while in simulation.
rlm@449	1066 #+name: report-worm-activity
rlm@452	1067 #+attr_latex: [htpb]
rlm@452	1068 #+begin_listing clojure
rlm@449	1069 #+begin_src clojure
rlm@449	1070 (defn debug-experience
rlm@449	1071 [experiences text]
rlm@449	1072 (cond
rlm@449	1073 (grand-circle? experiences) (.setText text "Grand Circle")
rlm@449	1074 (curled? experiences) (.setText text "Curled")
rlm@449	1075 (wiggling? experiences) (.setText text "Wiggling")
rlm@449	1076 (resting? experiences) (.setText text "Resting")))
rlm@449	1077 #+end_src
rlm@449	1078 #+end_listing
rlm@449	1079
rlm@449	1080 #+caption: Using =debug-experience=, the body-centered predicates
rlm@449	1081 #+caption: work together to classify the behaviour of the worm.
rlm@451	1082 #+caption: the predicates are operating with access to the worm's
rlm@451	1083 #+caption: full sensory data.
rlm@449	1084 #+name: basic-worm-view
rlm@449	1085 #+ATTR_LaTeX: :width 10cm
rlm@449	1086 [[./images/worm-identify-init.png]]
rlm@449	1087
rlm@449	1088 These action predicates satisfy the recognition requirement of an
rlm@451	1089 empathic recognition system. There is power in the simplicity of
rlm@451	1090 the action predicates. They describe their actions without getting
rlm@451	1091 confused in visual details of the worm. Each one is frame
rlm@451	1092 independent, but more than that, they are each indepent of
rlm@449	1093 irrelevant visual details of the worm and the environment. They
rlm@449	1094 will work regardless of whether the worm is a different color or
rlm@451	1095 hevaily textured, or if the environment has strange lighting.
rlm@449	1096
rlm@449	1097 The trick now is to make the action predicates work even when the
rlm@449	1098 sensory data on which they depend is absent. If I can do that, then
rlm@449	1099 I will have gained much,
rlm@435	1100
rlm@436	1101 ** \Phi-space describes the worm's experiences
rlm@449	1102
rlm@449	1103 As a first step towards building empathy, I need to gather all of
rlm@449	1104 the worm's experiences during free play. I use a simple vector to
rlm@449	1105 store all the experiences.
rlm@449	1106
rlm@449	1107 Each element of the experience vector exists in the vast space of
rlm@449	1108 all possible worm-experiences. Most of this vast space is actually
rlm@449	1109 unreachable due to physical constraints of the worm's body. For
rlm@449	1110 example, the worm's segments are connected by hinge joints that put
rlm@451	1111 a practical limit on the worm's range of motions without limiting
rlm@451	1112 its degrees of freedom. Some groupings of senses are impossible;
rlm@451	1113 the worm can not be bent into a circle so that its ends are
rlm@451	1114 touching and at the same time not also experience the sensation of
rlm@451	1115 touching itself.
rlm@449	1116
rlm@451	1117 As the worm moves around during free play and its experience vector
rlm@451	1118 grows larger, the vector begins to define a subspace which is all
rlm@451	1119 the sensations the worm can practicaly experience during normal
rlm@451	1120 operation. I call this subspace \Phi-space, short for
rlm@451	1121 physical-space. The experience vector defines a path through
rlm@451	1122 \Phi-space. This path has interesting properties that all derive
rlm@451	1123 from physical embodiment. The proprioceptive components are
rlm@451	1124 completely smooth, because in order for the worm to move from one
rlm@451	1125 position to another, it must pass through the intermediate
rlm@451	1126 positions. The path invariably forms loops as actions are repeated.
rlm@451	1127 Finally and most importantly, proprioception actually gives very
rlm@451	1128 strong inference about the other senses. For example, when the worm
rlm@451	1129 is flat, you can infer that it is touching the ground and that its
rlm@451	1130 muscles are not active, because if the muscles were active, the
rlm@451	1131 worm would be moving and would not be perfectly flat. In order to
rlm@451	1132 stay flat, the worm has to be touching the ground, or it would
rlm@451	1133 again be moving out of the flat position due to gravity. If the
rlm@451	1134 worm is positioned in such a way that it interacts with itself,
rlm@451	1135 then it is very likely to be feeling the same tactile feelings as
rlm@451	1136 the last time it was in that position, because it has the same body
rlm@451	1137 as then. If you observe multiple frames of proprioceptive data,
rlm@451	1138 then you can become increasingly confident about the exact
rlm@451	1139 activations of the worm's muscles, because it generally takes a
rlm@451	1140 unique combination of muscle contractions to transform the worm's
rlm@451	1141 body along a specific path through \Phi-space.
rlm@449	1142
rlm@449	1143 There is a simple way of taking \Phi-space and the total ordering
rlm@449	1144 provided by an experience vector and reliably infering the rest of
rlm@449	1145 the senses.
rlm@435	1146
rlm@436	1147 ** Empathy is the process of tracing though \Phi-space
rlm@449	1148
rlm@450	1149 Here is the core of a basic empathy algorithm, starting with an
rlm@451	1150 experience vector:
rlm@451	1151
rlm@451	1152 First, group the experiences into tiered proprioceptive bins. I use
rlm@451	1153 powers of 10 and 3 bins, and the smallest bin has an approximate
rlm@451	1154 size of 0.001 radians in all proprioceptive dimensions.
rlm@450	1155
rlm@450	1156 Then, given a sequence of proprioceptive input, generate a set of
rlm@451	1157 matching experience records for each input, using the tiered
rlm@451	1158 proprioceptive bins.
rlm@449	1159
rlm@450	1160 Finally, to infer sensory data, select the longest consective chain
rlm@451	1161 of experiences. Conecutive experience means that the experiences
rlm@451	1162 appear next to each other in the experience vector.
rlm@449	1163
rlm@450	1164 This algorithm has three advantages:
rlm@450	1165
rlm@450	1166 1. It's simple
rlm@450	1167
rlm@451	1168 3. It's very fast -- retrieving possible interpretations takes
rlm@451	1169 constant time. Tracing through chains of interpretations takes
rlm@451	1170 time proportional to the average number of experiences in a
rlm@451	1171 proprioceptive bin. Redundant experiences in \Phi-space can be
rlm@451	1172 merged to save computation.
rlm@450	1173
rlm@450	1174 2. It protects from wrong interpretations of transient ambiguous
rlm@451	1175 proprioceptive data. For example, if the worm is flat for just
rlm@450	1176 an instant, this flattness will not be interpreted as implying
rlm@450	1177 that the worm has its muscles relaxed, since the flattness is
rlm@450	1178 part of a longer chain which includes a distinct pattern of
rlm@451	1179 muscle activation. Markov chains or other memoryless statistical
rlm@451	1180 models that operate on individual frames may very well make this
rlm@451	1181 mistake.
rlm@450	1182
rlm@450	1183 #+caption: Program to convert an experience vector into a
rlm@450	1184 #+caption: proprioceptively binned lookup function.
rlm@450	1185 #+name: bin
rlm@452	1186 #+attr_latex: [htpb]
rlm@452	1187 #+begin_listing clojure
rlm@450	1188 #+begin_src clojure
rlm@449	1189 (defn bin [digits]
rlm@449	1190 (fn [angles]
rlm@449	1191 (->> angles
rlm@449	1192 (flatten)
rlm@449	1193 (map (juxt #(Math/sin %) #(Math/cos %)))
rlm@449	1194 (flatten)
rlm@449	1195 (mapv #(Math/round (* % (Math/pow 10 (dec digits))))))))
rlm@449	1196
rlm@449	1197 (defn gen-phi-scan
rlm@450	1198 "Nearest-neighbors with binning. Only returns a result if
rlm@450	1199 the propriceptive data is within 10% of a previously recorded
rlm@450	1200 result in all dimensions."
rlm@450	1201 [phi-space]
rlm@449	1202 (let [bin-keys (map bin [3 2 1])
rlm@449	1203 bin-maps
rlm@449	1204 (map (fn [bin-key]
rlm@449	1205 (group-by
rlm@449	1206 (comp bin-key :proprioception phi-space)
rlm@449	1207 (range (count phi-space)))) bin-keys)
rlm@449	1208 lookups (map (fn [bin-key bin-map]
rlm@450	1209 (fn [proprio] (bin-map (bin-key proprio))))
rlm@450	1210 bin-keys bin-maps)]
rlm@449	1211 (fn lookup [proprio-data]
rlm@449	1212 (set (some #(% proprio-data) lookups)))))
rlm@450	1213 #+end_src
rlm@450	1214 #+end_listing
rlm@449	1215
rlm@451	1216 #+caption: =longest-thread= finds the longest path of consecutive
rlm@451	1217 #+caption: experiences to explain proprioceptive worm data.
rlm@451	1218 #+name: phi-space-history-scan
rlm@451	1219 #+ATTR_LaTeX: :width 10cm
rlm@451	1220 [[./images/aurellem-gray.png]]
rlm@451	1221
rlm@451	1222 =longest-thread= infers sensory data by stitching together pieces
rlm@451	1223 from previous experience. It prefers longer chains of previous
rlm@451	1224 experience to shorter ones. For example, during training the worm
rlm@451	1225 might rest on the ground for one second before it performs its
rlm@451	1226 excercises. If during recognition the worm rests on the ground for
rlm@451	1227 five seconds, =longest-thread= will accomodate this five second
rlm@451	1228 rest period by looping the one second rest chain five times.
rlm@451	1229
rlm@451	1230 =longest-thread= takes time proportinal to the average number of
rlm@451	1231 entries in a proprioceptive bin, because for each element in the
rlm@451	1232 starting bin it performes a series of set lookups in the preceeding
rlm@451	1233 bins. If the total history is limited, then this is only a constant
rlm@451	1234 multiple times the number of entries in the starting bin. This
rlm@451	1235 analysis also applies even if the action requires multiple longest
rlm@451	1236 chains -- it's still the average number of entries in a
rlm@451	1237 proprioceptive bin times the desired chain length. Because
rlm@451	1238 =longest-thread= is so efficient and simple, I can interpret
rlm@451	1239 worm-actions in real time.
rlm@449	1240
rlm@450	1241 #+caption: Program to calculate empathy by tracing though \Phi-space
rlm@450	1242 #+caption: and finding the longest (ie. most coherent) interpretation
rlm@450	1243 #+caption: of the data.
rlm@450	1244 #+name: longest-thread
rlm@452	1245 #+attr_latex: [htpb]
rlm@452	1246 #+begin_listing clojure
rlm@450	1247 #+begin_src clojure
rlm@449	1248 (defn longest-thread
rlm@449	1249 "Find the longest thread from phi-index-sets. The index sets should
rlm@449	1250 be ordered from most recent to least recent."
rlm@449	1251 [phi-index-sets]
rlm@449	1252 (loop [result '()
rlm@449	1253 [thread-bases & remaining :as phi-index-sets] phi-index-sets]
rlm@449	1254 (if (empty? phi-index-sets)
rlm@449	1255 (vec result)
rlm@449	1256 (let [threads
rlm@449	1257 (for [thread-base thread-bases]
rlm@449	1258 (loop [thread (list thread-base)
rlm@449	1259 remaining remaining]
rlm@449	1260 (let [next-index (dec (first thread))]
rlm@449	1261 (cond (empty? remaining) thread
rlm@449	1262 (contains? (first remaining) next-index)
rlm@449	1263 (recur
rlm@449	1264 (cons next-index thread) (rest remaining))
rlm@449	1265 :else thread))))
rlm@449	1266 longest-thread
rlm@449	1267 (reduce (fn [thread-a thread-b]
rlm@449	1268 (if (> (count thread-a) (count thread-b))
rlm@449	1269 thread-a thread-b))
rlm@449	1270 '(nil)
rlm@449	1271 threads)]
rlm@449	1272 (recur (concat longest-thread result)
rlm@449	1273 (drop (count longest-thread) phi-index-sets))))))
rlm@450	1274 #+end_src
rlm@450	1275 #+end_listing
rlm@450	1276
rlm@451	1277 There is one final piece, which is to replace missing sensory data
rlm@451	1278 with a best-guess estimate. While I could fill in missing data by
rlm@451	1279 using a gradient over the closest known sensory data points,
rlm@451	1280 averages can be misleading. It is certainly possible to create an
rlm@451	1281 impossible sensory state by averaging two possible sensory states.
rlm@451	1282 Therefore, I simply replicate the most recent sensory experience to
rlm@451	1283 fill in the gaps.
rlm@449	1284
rlm@449	1285 #+caption: Fill in blanks in sensory experience by replicating the most
rlm@449	1286 #+caption: recent experience.
rlm@449	1287 #+name: infer-nils
rlm@452	1288 #+attr_latex: [htpb]
rlm@452	1289 #+begin_listing clojure
rlm@449	1290 #+begin_src clojure
rlm@449	1291 (defn infer-nils
rlm@449	1292 "Replace nils with the next available non-nil element in the
rlm@449	1293 sequence, or barring that, 0."
rlm@449	1294 [s]
rlm@449	1295 (loop [i (dec (count s))
rlm@449	1296 v (transient s)]
rlm@449	1297 (if (zero? i) (persistent! v)
rlm@449	1298 (if-let [cur (v i)]
rlm@449	1299 (if (get v (dec i) 0)
rlm@449	1300 (recur (dec i) v)
rlm@449	1301 (recur (dec i) (assoc! v (dec i) cur)))
rlm@449	1302 (recur i (assoc! v i 0))))))
rlm@449	1303 #+end_src
rlm@449	1304 #+end_listing
rlm@435	1305
rlm@441	1306 ** Efficient action recognition with =EMPATH=
rlm@451	1307
rlm@451	1308 To use =EMPATH= with the worm, I first need to gather a set of
rlm@451	1309 experiences from the worm that includes the actions I want to
rlm@452	1310 recognize. The =generate-phi-space= program (listing
rlm@451	1311 \ref{generate-phi-space} runs the worm through a series of
rlm@451	1312 exercices and gatheres those experiences into a vector. The
rlm@451	1313 =do-all-the-things= program is a routine expressed in a simple
rlm@452	1314 muscle contraction script language for automated worm control. It
rlm@452	1315 causes the worm to rest, curl, and wiggle over about 700 frames
rlm@452	1316 (approx. 11 seconds).
rlm@425	1317
rlm@451	1318 #+caption: Program to gather the worm's experiences into a vector for
rlm@451	1319 #+caption: further processing. The =motor-control-program= line uses
rlm@451	1320 #+caption: a motor control script that causes the worm to execute a series
rlm@451	1321 #+caption: of ``exercices'' that include all the action predicates.
rlm@451	1322 #+name: generate-phi-space
rlm@452	1323 #+attr_latex: [htpb]
rlm@452	1324 #+begin_listing clojure
rlm@451	1325 #+begin_src clojure
rlm@451	1326 (def do-all-the-things
rlm@451	1327 (concat
rlm@451	1328 curl-script
rlm@451	1329 [[300 :d-ex 40]
rlm@451	1330 [320 :d-ex 0]]
rlm@451	1331 (shift-script 280 (take 16 wiggle-script))))
rlm@451	1332
rlm@451	1333 (defn generate-phi-space []
rlm@451	1334 (let [experiences (atom [])]
rlm@451	1335 (run-world
rlm@451	1336 (apply-map
rlm@451	1337 worm-world
rlm@451	1338 (merge
rlm@451	1339 (worm-world-defaults)
rlm@451	1340 {:end-frame 700
rlm@451	1341 :motor-control
rlm@451	1342 (motor-control-program worm-muscle-labels do-all-the-things)
rlm@451	1343 :experiences experiences})))
rlm@451	1344 @experiences))
rlm@451	1345 #+end_src
rlm@451	1346 #+end_listing
rlm@451	1347
rlm@451	1348 #+caption: Use longest thread and a phi-space generated from a short
rlm@451	1349 #+caption: exercise routine to interpret actions during free play.
rlm@451	1350 #+name: empathy-debug
rlm@452	1351 #+attr_latex: [htpb]
rlm@452	1352 #+begin_listing clojure
rlm@451	1353 #+begin_src clojure
rlm@451	1354 (defn init []
rlm@451	1355 (def phi-space (generate-phi-space))
rlm@451	1356 (def phi-scan (gen-phi-scan phi-space)))
rlm@451	1357
rlm@451	1358 (defn empathy-demonstration []
rlm@451	1359 (let [proprio (atom ())]
rlm@451	1360 (fn
rlm@451	1361 [experiences text]
rlm@451	1362 (let [phi-indices (phi-scan (:proprioception (peek experiences)))]
rlm@451	1363 (swap! proprio (partial cons phi-indices))
rlm@451	1364 (let [exp-thread (longest-thread (take 300 @proprio))
rlm@451	1365 empathy (mapv phi-space (infer-nils exp-thread))]
rlm@451	1366 (println-repl (vector:last-n exp-thread 22))
rlm@451	1367 (cond
rlm@451	1368 (grand-circle? empathy) (.setText text "Grand Circle")
rlm@451	1369 (curled? empathy) (.setText text "Curled")
rlm@451	1370 (wiggling? empathy) (.setText text "Wiggling")
rlm@451	1371 (resting? empathy) (.setText text "Resting")
rlm@451	1372 :else (.setText text "Unknown")))))))
rlm@451	1373
rlm@451	1374 (defn empathy-experiment [record]
rlm@451	1375 (.start (worm-world :experience-watch (debug-experience-phi)
rlm@451	1376 :record record :worm worm*)))
rlm@451	1377 #+end_src
rlm@451	1378 #+end_listing
rlm@451	1379
rlm@451	1380 The result of running =empathy-experiment= is that the system is
rlm@451	1381 generally able to interpret worm actions using the action-predicates
rlm@451	1382 on simulated sensory data just as well as with actual data. Figure
rlm@451	1383 \ref{empathy-debug-image} was generated using =empathy-experiment=:
rlm@451	1384
rlm@451	1385 #+caption: From only proprioceptive data, =EMPATH= was able to infer
rlm@451	1386 #+caption: the complete sensory experience and classify four poses
rlm@451	1387 #+caption: (The last panel shows a composite image of \emph{wriggling},
rlm@451	1388 #+caption: a dynamic pose.)
rlm@451	1389 #+name: empathy-debug-image
rlm@451	1390 #+ATTR_LaTeX: :width 10cm :placement [H]
rlm@451	1391 [[./images/empathy-1.png]]
rlm@451	1392
rlm@451	1393 One way to measure the performance of =EMPATH= is to compare the
rlm@451	1394 sutiability of the imagined sense experience to trigger the same
rlm@451	1395 action predicates as the real sensory experience.
rlm@451	1396
rlm@451	1397 #+caption: Determine how closely empathy approximates actual
rlm@451	1398 #+caption: sensory data.
rlm@451	1399 #+name: test-empathy-accuracy
rlm@452	1400 #+attr_latex: [htpb]
rlm@452	1401 #+begin_listing clojure
rlm@451	1402 #+begin_src clojure
rlm@451	1403 (def worm-action-label
rlm@451	1404 (juxt grand-circle? curled? wiggling?))
rlm@451	1405
rlm@451	1406 (defn compare-empathy-with-baseline [matches]
rlm@451	1407 (let [proprio (atom ())]
rlm@451	1408 (fn
rlm@451	1409 [experiences text]
rlm@451	1410 (let [phi-indices (phi-scan (:proprioception (peek experiences)))]
rlm@451	1411 (swap! proprio (partial cons phi-indices))
rlm@451	1412 (let [exp-thread (longest-thread (take 300 @proprio))
rlm@451	1413 empathy (mapv phi-space (infer-nils exp-thread))
rlm@451	1414 experience-matches-empathy
rlm@451	1415 (= (worm-action-label experiences)
rlm@451	1416 (worm-action-label empathy))]
rlm@451	1417 (println-repl experience-matches-empathy)
rlm@451	1418 (swap! matches #(conj % experience-matches-empathy)))))))
rlm@451	1419
rlm@451	1420 (defn accuracy [v]
rlm@451	1421 (float (/ (count (filter true? v)) (count v))))
rlm@451	1422
rlm@451	1423 (defn test-empathy-accuracy []
rlm@451	1424 (let [res (atom [])]
rlm@451	1425 (run-world
rlm@451	1426 (worm-world :experience-watch
rlm@451	1427 (compare-empathy-with-baseline res)
rlm@451	1428 :worm worm*))
rlm@451	1429 (accuracy @res)))
rlm@451	1430 #+end_src
rlm@451	1431 #+end_listing
rlm@451	1432
rlm@451	1433 Running =test-empathy-accuracy= using the very short exercise
rlm@451	1434 program defined in listing \ref{generate-phi-space}, and then doing
rlm@451	1435 a similar pattern of activity manually yeilds an accuracy of around
rlm@451	1436 73%. This is based on very limited worm experience. By training the
rlm@451	1437 worm for longer, the accuracy dramatically improves.
rlm@451	1438
rlm@451	1439 #+caption: Program to generate \Phi-space using manual training.
rlm@451	1440 #+name: manual-phi-space
rlm@452	1441 #+attr_latex: [htpb]
rlm@451	1442 #+begin_listing clojure
rlm@451	1443 #+begin_src clojure
rlm@451	1444 (defn init-interactive []
rlm@451	1445 (def phi-space
rlm@451	1446 (let [experiences (atom [])]
rlm@451	1447 (run-world
rlm@451	1448 (apply-map
rlm@451	1449 worm-world
rlm@451	1450 (merge
rlm@451	1451 (worm-world-defaults)
rlm@451	1452 {:experiences experiences})))
rlm@451	1453 @experiences))
rlm@451	1454 (def phi-scan (gen-phi-scan phi-space)))
rlm@451	1455 #+end_src
rlm@451	1456 #+end_listing
rlm@451	1457
rlm@451	1458 After about 1 minute of manual training, I was able to achieve 95%
rlm@451	1459 accuracy on manual testing of the worm using =init-interactive= and
rlm@452	1460 =test-empathy-accuracy=. The majority of errors are near the
rlm@452	1461 boundaries of transitioning from one type of action to another.
rlm@452	1462 During these transitions the exact label for the action is more open
rlm@452	1463 to interpretation, and dissaggrement between empathy and experience
rlm@452	1464 is more excusable.
rlm@450	1465
rlm@449	1466 ** Digression: bootstrapping touch using free exploration
rlm@449	1467
rlm@452	1468 In the previous section I showed how to compute actions in terms of
rlm@452	1469 body-centered predicates which relied averate touch activation of
rlm@452	1470 pre-defined regions of the worm's skin. What if, instead of recieving
rlm@452	1471 touch pre-grouped into the six faces of each worm segment, the true
rlm@452	1472 topology of the worm's skin was unknown? This is more similiar to how
rlm@452	1473 a nerve fiber bundle might be arranged. While two fibers that are
rlm@452	1474 close in a nerve bundle /might/ correspond to two touch sensors that
rlm@452	1475 are close together on the skin, the process of taking a complicated
rlm@452	1476 surface and forcing it into essentially a circle requires some cuts
rlm@452	1477 and rerragenments.
rlm@452	1478
rlm@452	1479 In this section I show how to automatically learn the skin-topology of
rlm@452	1480 a worm segment by free exploration. As the worm rolls around on the
rlm@452	1481 floor, large sections of its surface get activated. If the worm has
rlm@452	1482 stopped moving, then whatever region of skin that is touching the
rlm@452	1483 floor is probably an important region, and should be recorded.
rlm@452	1484
rlm@452	1485 #+caption: Program to detect whether the worm is in a resting state
rlm@452	1486 #+caption: with one face touching the floor.
rlm@452	1487 #+name: pure-touch
rlm@452	1488 #+begin_listing clojure
rlm@452	1489 #+begin_src clojure
rlm@452	1490 (def full-contact [(float 0.0) (float 0.1)])
rlm@452	1491
rlm@452	1492 (defn pure-touch?
rlm@452	1493 "This is worm specific code to determine if a large region of touch
rlm@452	1494 sensors is either all on or all off."
rlm@452	1495 [[coords touch :as touch-data]]
rlm@452	1496 (= (set (map first touch)) (set full-contact)))
rlm@452	1497 #+end_src
rlm@452	1498 #+end_listing
rlm@452	1499
rlm@452	1500 After collecting these important regions, there will many nearly
rlm@452	1501 similiar touch regions. While for some purposes the subtle
rlm@452	1502 differences between these regions will be important, for my
rlm@452	1503 purposes I colapse them into mostly non-overlapping sets using
rlm@452	1504 =remove-similiar= in listing \ref{remove-similiar}
rlm@452	1505
rlm@452	1506 #+caption: Program to take a lits of set of points and ``collapse them''
rlm@452	1507 #+caption: so that the remaining sets in the list are siginificantly
rlm@452	1508 #+caption: different from each other. Prefer smaller sets to larger ones.
rlm@452	1509 #+name: remove-similiar
rlm@452	1510 #+begin_listing clojure
rlm@452	1511 #+begin_src clojure
rlm@452	1512 (defn remove-similar
rlm@452	1513 [coll]
rlm@452	1514 (loop [result () coll (sort-by (comp - count) coll)]
rlm@452	1515 (if (empty? coll) result
rlm@452	1516 (let [[x & xs] coll
rlm@452	1517 c (count x)]
rlm@452	1518 (if (some
rlm@452	1519 (fn [other-set]
rlm@452	1520 (let [oc (count other-set)]
rlm@452	1521 (< (- (count (union other-set x)) c) (* oc 0.1))))
rlm@452	1522 xs)
rlm@452	1523 (recur result xs)
rlm@452	1524 (recur (cons x result) xs))))))
rlm@452	1525 #+end_src
rlm@452	1526 #+end_listing
rlm@452	1527
rlm@452	1528 Actually running this simulation is easy given =CORTEX='s facilities.
rlm@452	1529
rlm@452	1530 #+caption: Collect experiences while the worm moves around. Filter the touch
rlm@452	1531 #+caption: sensations by stable ones, collapse similiar ones together,
rlm@452	1532 #+caption: and report the regions learned.
rlm@452	1533 #+name: learn-touch
rlm@452	1534 #+begin_listing clojure
rlm@452	1535 #+begin_src clojure
rlm@452	1536 (defn learn-touch-regions []
rlm@452	1537 (let [experiences (atom [])
rlm@452	1538 world (apply-map
rlm@452	1539 worm-world
rlm@452	1540 (assoc (worm-segment-defaults)
rlm@452	1541 :experiences experiences))]
rlm@452	1542 (run-world world)
rlm@452	1543 (->>
rlm@452	1544 @experiences
rlm@452	1545 (drop 175)
rlm@452	1546 ;; access the single segment's touch data
rlm@452	1547 (map (comp first :touch))
rlm@452	1548 ;; only deal with "pure" touch data to determine surfaces
rlm@452	1549 (filter pure-touch?)
rlm@452	1550 ;; associate coordinates with touch values
rlm@452	1551 (map (partial apply zipmap))
rlm@452	1552 ;; select those regions where contact is being made
rlm@452	1553 (map (partial group-by second))
rlm@452	1554 (map #(get % full-contact))
rlm@452	1555 (map (partial map first))
rlm@452	1556 ;; remove redundant/subset regions
rlm@452	1557 (map set)
rlm@452	1558 remove-similar)))
rlm@452	1559
rlm@452	1560 (defn learn-and-view-touch-regions []
rlm@452	1561 (map view-touch-region
rlm@452	1562 (learn-touch-regions)))
rlm@452	1563 #+end_src
rlm@452	1564 #+end_listing
rlm@452	1565
rlm@452	1566 The only thing remining to define is the particular motion the worm
rlm@452	1567 must take. I accomplish this with a simple motor control program.
rlm@452	1568
rlm@452	1569 #+caption: Motor control program for making the worm roll on the ground.
rlm@452	1570 #+caption: This could also be replaced with random motion.
rlm@452	1571 #+name: worm-roll
rlm@452	1572 #+begin_listing clojure
rlm@452	1573 #+begin_src clojure
rlm@452	1574 (defn touch-kinesthetics []
rlm@452	1575 [[170 :lift-1 40]
rlm@452	1576 [190 :lift-1 19]
rlm@452	1577 [206 :lift-1 0]
rlm@452	1578
rlm@452	1579 [400 :lift-2 40]
rlm@452	1580 [410 :lift-2 0]
rlm@452	1581
rlm@452	1582 [570 :lift-2 40]
rlm@452	1583 [590 :lift-2 21]
rlm@452	1584 [606 :lift-2 0]
rlm@452	1585
rlm@452	1586 [800 :lift-1 30]
rlm@452	1587 [809 :lift-1 0]
rlm@452	1588
rlm@452	1589 [900 :roll-2 40]
rlm@452	1590 [905 :roll-2 20]
rlm@452	1591 [910 :roll-2 0]
rlm@452	1592
rlm@452	1593 [1000 :roll-2 40]
rlm@452	1594 [1005 :roll-2 20]
rlm@452	1595 [1010 :roll-2 0]
rlm@452	1596
rlm@452	1597 [1100 :roll-2 40]
rlm@452	1598 [1105 :roll-2 20]
rlm@452	1599 [1110 :roll-2 0]
rlm@452	1600 ])
rlm@452	1601 #+end_src
rlm@452	1602 #+end_listing
rlm@452	1603
rlm@452	1604
rlm@452	1605 #+caption: The small worm rolls around on the floor, driven
rlm@452	1606 #+caption: by the motor control program in listing \ref{worm-roll}.
rlm@452	1607 #+name: worm-roll
rlm@452	1608 #+ATTR_LaTeX: :width 12cm
rlm@452	1609 [[./images/worm-roll.png]]
rlm@452	1610
rlm@452	1611
rlm@452	1612 #+caption: After completing its adventures, the worm now knows
rlm@452	1613 #+caption: how its touch sensors are arranged along its skin. These
rlm@452	1614 #+caption: are the regions that were deemed important by
rlm@452	1615 #+caption: =learn-touch-regions=. Note that the worm has discovered
rlm@452	1616 #+caption: that it has six sides.
rlm@452	1617 #+name: worm-touch-map
rlm@452	1618 #+ATTR_LaTeX: :width 12cm
rlm@452	1619 [[./images/touch-learn.png]]
rlm@452	1620
rlm@452	1621 While simple, =learn-touch-regions= exploits regularities in both
rlm@452	1622 the worm's physiology and the worm's environment to correctly
rlm@452	1623 deduce that the worm has six sides. Note that =learn-touch-regions=
rlm@452	1624 would work just as well even if the worm's touch sense data were
rlm@452	1625 completely scrambled. The cross shape is just for convienence. This
rlm@452	1626 example justifies the use of pre-defined touch regions in =EMPATH=.
rlm@452	1627
rlm@465	1628 * COMMENT Contributions
rlm@454	1629
rlm@461	1630 In this thesis you have seen the =CORTEX= system, a complete
rlm@461	1631 environment for creating simulated creatures. You have seen how to
rlm@461	1632 implement five senses including touch, proprioception, hearing,
rlm@461	1633 vision, and muscle tension. You have seen how to create new creatues
rlm@461	1634 using blender, a 3D modeling tool. I hope that =CORTEX= will be
rlm@461	1635 useful in further research projects. To this end I have included the
rlm@461	1636 full source to =CORTEX= along with a large suite of tests and
rlm@461	1637 examples. I have also created a user guide for =CORTEX= which is
rlm@461	1638 inculded in an appendix to this thesis.
rlm@447	1639
rlm@461	1640 You have also seen how I used =CORTEX= as a platform to attach the
rlm@461	1641 /action recognition/ problem, which is the problem of recognizing
rlm@461	1642 actions in video. You saw a simple system called =EMPATH= which
rlm@461	1643 ientifies actions by first describing actions in a body-centerd,
rlm@461	1644 rich sense language, then infering a full range of sensory
rlm@461	1645 experience from limited data using previous experience gained from
rlm@461	1646 free play.
rlm@447	1647
rlm@461	1648 As a minor digression, you also saw how I used =CORTEX= to enable a
rlm@461	1649 tiny worm to discover the topology of its skin simply by rolling on
rlm@461	1650 the ground.
rlm@461	1651
rlm@461	1652 In conclusion, the main contributions of this thesis are:
rlm@461	1653
rlm@461	1654 - =CORTEX=, a system for creating simulated creatures with rich
rlm@461	1655 senses.
rlm@461	1656 - =EMPATH=, a program for recognizing actions by imagining sensory
rlm@461	1657 experience.
rlm@447	1658
rlm@447	1659 # An anatomical joke:
rlm@447	1660 # - Training
rlm@447	1661 # - Skeletal imitation
rlm@447	1662 # - Sensory fleshing-out
rlm@447	1663 # - Classification

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