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comparison thesis/cortex.org @ 514:447c3c8405a2

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author Robert McIntyre <rlm@mit.edu>
date Sun, 30 Mar 2014 10:50:05 -0400
parents 07c3feb32df3
children 58fa1ffd481e
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513:4c4d45f6f30b 514:447c3c8405a2
496 The most important archetictural decision of all is the choice to 496 The most important archetictural decision of all is the choice to
497 use a computer-simulated environemnt in the first place! The world 497 use a computer-simulated environemnt in the first place! The world
498 is a vast and rich place, and for now simulations are a very poor 498 is a vast and rich place, and for now simulations are a very poor
499 reflection of its complexity. It may be that there is a significant 499 reflection of its complexity. It may be that there is a significant
500 qualatative difference between dealing with senses in the real 500 qualatative difference between dealing with senses in the real
501 world and dealing with pale facilimilies of them in a simulation. 501 world and dealing with pale facilimilies of them in a simulation
502 What are the advantages and disadvantages of a simulation vs. 502 \cite{brooks-representation}. What are the advantages and
503 reality? 503 disadvantages of a simulation vs. reality?
504 504
505 *** Simulation 505 *** Simulation
506 506
507 The advantages of virtual reality are that when everything is a 507 The advantages of virtual reality are that when everything is a
508 simulation, experiments in that simulation are absolutely 508 simulation, experiments in that simulation are absolutely
576 than real time. This can also be an advantage, however --- 576 than real time. This can also be an advantage, however ---
577 simulations of very simple creatures in =CORTEX= generally run at 577 simulations of very simple creatures in =CORTEX= generally run at
578 40x on my machine! 578 40x on my machine!
579 579
580 ** All sense organs are two-dimensional surfaces 580 ** All sense organs are two-dimensional surfaces
581 # What is a sense? 581
582 If =CORTEX= is to support a wide variety of senses, it would help 582 If =CORTEX= is to support a wide variety of senses, it would help
583 to have a better understanding of what a ``sense'' actually is! 583 to have a better understanding of what a ``sense'' actually is!
584 While vision, touch, and hearing all seem like they are quite 584 While vision, touch, and hearing all seem like they are quite
585 different things, I was supprised to learn during the course of 585 different things, I was supprised to learn during the course of
586 this thesis that they (and all physical senses) can be expressed as 586 this thesis that they (and all physical senses) can be expressed as
1374 This vision code has already been absorbed by the jMonkeyEngine 1374 This vision code has already been absorbed by the jMonkeyEngine
1375 community and is now (in modified form) part of a system for 1375 community and is now (in modified form) part of a system for
1376 capturing in-game video to a file. 1376 capturing in-game video to a file.
1377 1377
1378 ** ...but hearing must be built from scratch 1378 ** ...but hearing must be built from scratch
1379 # is hard; =CORTEX= does it right 1379
1380 At the end of this section I will have simulated ears that work the 1380 At the end of this section I will have simulated ears that work the
1381 same way as the simulated eyes in the last section. I will be able to 1381 same way as the simulated eyes in the last section. I will be able to
1382 place any number of ear-nodes in a blender file, and they will bind to 1382 place any number of ear-nodes in a blender file, and they will bind to
1383 the closest physical object and follow it as it moves around. Each ear 1383 the closest physical object and follow it as it moves around. Each ear
1384 will provide access to the sound data it picks up between every frame. 1384 will provide access to the sound data it picks up between every frame.
3161 boundaries of transitioning from one type of action to another. 3161 boundaries of transitioning from one type of action to another.
3162 During these transitions the exact label for the action is more open 3162 During these transitions the exact label for the action is more open
3163 to interpretation, and dissaggrement between empathy and experience 3163 to interpretation, and dissaggrement between empathy and experience
3164 is more excusable. 3164 is more excusable.
3165 3165
3166 ** Digression: Learn touch sensor layout through haptic experimentation, instead 3166 ** Digression: Learn touch sensor layout through free play
3167 # Boostraping touch using free exploration 3167
3168 In the previous section I showed how to compute actions in terms of 3168 In the previous section I showed how to compute actions in terms of
3169 body-centered predicates which relied averate touch activation of 3169 body-centered predicates which relied averate touch activation of
3170 pre-defined regions of the worm's skin. What if, instead of recieving 3170 pre-defined regions of the worm's skin. What if, instead of
3171 touch pre-grouped into the six faces of each worm segment, the true 3171 recieving touch pre-grouped into the six faces of each worm
3172 topology of the worm's skin was unknown? This is more similiar to how 3172 segment, the true topology of the worm's skin was unknown? This is
3173 a nerve fiber bundle might be arranged. While two fibers that are 3173 more similiar to how a nerve fiber bundle might be arranged. While
3174 close in a nerve bundle /might/ correspond to two touch sensors that 3174 two fibers that are close in a nerve bundle /might/ correspond to
3175 are close together on the skin, the process of taking a complicated 3175 two touch sensors that are close together on the skin, the process
3176 surface and forcing it into essentially a circle requires some cuts 3176 of taking a complicated surface and forcing it into essentially a
3177 and rerragenments. 3177 circle requires some cuts and rerragenments.
3178 3178
3179 In this section I show how to automatically learn the skin-topology of 3179 In this section I show how to automatically learn the skin-topology of
3180 a worm segment by free exploration. As the worm rolls around on the 3180 a worm segment by free exploration. As the worm rolls around on the
3181 floor, large sections of its surface get activated. If the worm has 3181 floor, large sections of its surface get activated. If the worm has
3182 stopped moving, then whatever region of skin that is touching the 3182 stopped moving, then whatever region of skin that is touching the