cortex: org/worm_learn.clj comparison

comparison org/worm_learn.clj @ 418:027707c75f39

saving progress for the night.

author	Robert McIntyre <rlm@mit.edu>
date	Thu, 20 Mar 2014 00:24:46 -0400
parents	f689967c2545
children	dd40244255d4

comparison

equal deleted inserted replaced

-:f689967c2545
+:027707c75f39
 tail-touch (worm-touch 0)
 head-touch (worm-touch 4)]
 (and (< 0.55 (contact worm-segment-bottom-tip tail-touch))
 (< 0.55 (contact worm-segment-top-tip    head-touch))))))
+(declare phi-space phi-scan)
+(defn next-phi-states
+"Given proprioception data, determine the most likely next sensory
+pattern from previous experience."
+[proprio phi-space phi-scan]
+(if-let [results (phi-scan proprio)]
+(mapv phi-space
+(filter (partial > (count phi-space))
+(map inc results)))))
+(defn debug-experience
+[experiences]
+(cond
+(grand-circle? experiences) (println "Grand Circle")
+(curled? experiences)       (println "Curled")
+(wiggling? experiences)     (println "Wiggling")
+(resting? experiences)      (println "Resting")))
+(defn debug-experience
+[experiences]
+;; (println-repl
+;;  (count (next-phi-states (:proprioception (peek experiences))
+;;                          phi-space phi-scan)))
+(cond
+(grand-circle? experiences) (println "Grand Circle")
+(curled? experiences)       (println "Curled")
+(wiggling? experiences)     (println "Wiggling")
+(resting? experiences)      (println "Resting"))
+)
 (def standard-world-view
 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
 (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
 (def worm-side-view
 (let [direct-control (worm-direct-control worm-muscle-labels 40)]
 {:view worm-side-view
 :motor-control (:motor-control direct-control)
 :keybindings (:keybindings direct-control)
 :record nil
-:experiences nil
+:experiences (atom [])
+:experience-watch debug-experience
 :worm-model worm-model
 :end-frame nil}))
 (defn dir! [file]
 (if-not (.exists file)
 file)
 (defn record-experience! [experiences data]
 (swap! experiences #(conj % data)))
-(declare phi-space phi-scan)
 (defn worm-world
 [& {:keys [record motor-control keybindings view experiences
-worm-model end-frame] :as settings}]
+worm-model end-frame experience-watch] :as settings}]
 (let [{:keys [record motor-control keybindings view experiences
-worm-model end-frame]}
+worm-model end-frame experience-watch]}
 (merge (worm-world-defaults) settings)
 worm (doto (worm-model) (body!))
 touch   (touch! worm)
 prop    (proprioception! worm)
 muscles (movement! worm)
 touch-data (mapv #(% (.getRootNode world)) touch)]
 (when experiences
 (record-experience!
 experiences {:touch touch-data
 :proprioception proprioception-data
-:muscle muscle-data})
+:muscle muscle-data}))
-(cond
+(when experience-watch
-(grand-circle? @experiences) (println "Grand Circle")
+(experience-watch @experiences))
-(curled? @experiences)       (println "Curled")
-(wiggling? @experiences)     (println "Wiggling")
-(resting? @experiences)      (println "Resting"))
-)
 (muscle-display
 muscle-data
 (if record (dir! (File. record "muscle"))))
 (prop-display
 proprioception-data
 {:end-frame 700
 :motor-control
 (motor-control-program worm-muscle-labels do-all-the-things)
 :experiences experiences})))
 @experiences))
 (defn bin [digits]
 (fn [angles]
 (->> angles
 (flatten)
 (map (juxt #(Math/sin %) #(Math/cos %)))
 (flatten)
 (mapv #(Math/round (* % (Math/pow 10 (dec digits))))))))
-;; k-nearest neighbors with spatial binning.
+;; k-nearest neighbors with spatial binning. Only returns a result if
+;; the propriceptive data is within 10% of a previously recorded
+;; result in all dimensions.
 (defn gen-phi-scan [phi-space]
 (let [bin-keys (map bin [3 2 1])
 bin-maps
 (map (fn [bin-key]
 (group-by
 (fn [proprio] (bin-map (bin-key proprio))))
 bin-keys bin-maps)]
 (fn lookup [proprio-data]
 (some #(% proprio-data) lookups))))
-;; (defn gen-phi-scan [phi-space]
-;;   (let [bin-keys (map bin [3 2 1])
-;;         bin-maps
-;;         (map (fn [bin-key phi-space]
-;;                (group-by (comp bin-key :proprioception) phi-space))
-;;              bin-keys (repeat phi-space))
-;;         lookups (map (fn [bin-key bin-map]
-;;                        (fn [proprio] (bin-map (bin-key proprio))))
-;;                      bin-keys bin-maps)]
-;;     (fn lookup [proprio-data]
-;;       (some #(% proprio-data) lookups))))
 (defn init []
 (def phi-space (generate-phi-space))
 (def phi-scan (gen-phi-scan phi-space))
 )

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comparison org/worm_learn.clj @ 418:027707c75f39