Mercurial > cortex
comparison thesis/dylan-cortex-diff.diff @ 514:447c3c8405a2
accept/reject changes
| author | Robert McIntyre <rlm@mit.edu> |
|---|---|
| date | Sun, 30 Mar 2014 10:50:05 -0400 |
| parents | 4c4d45f6f30b |
| children | 58fa1ffd481e |
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| 513:4c4d45f6f30b | 514:447c3c8405a2 |
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| 292 -** Because of Time, simulation is perferable to reality | 292 -** Because of Time, simulation is perferable to reality |
| 293 +** Simulated time enables rapid prototyping and complex scenes | 293 +** Simulated time enables rapid prototyping and complex scenes |
| 294 | 294 |
| 295 I envision =CORTEX= being used to support rapid prototyping and | 295 I envision =CORTEX= being used to support rapid prototyping and |
| 296 iteration of ideas. Even if I could put together a well constructed | 296 iteration of ideas. Even if I could put together a well constructed |
| 297 @@ -459,8 +577,8 @@ | |
| 298 simulations of very simple creatures in =CORTEX= generally run at | |
| 299 40x on my machine! | |
| 300 | |
| 301 -** What is a sense? | |
| 302 - | |
| 303 +** All sense organs are two-dimensional surfaces | |
| 304 +# What is a sense? | |
| 305 If =CORTEX= is to support a wide variety of senses, it would help | |
| 306 to have a better understanding of what a ``sense'' actually is! | |
| 307 While vision, touch, and hearing all seem like they are quite | |
| 308 @@ -956,7 +1074,7 @@ | |
| 309 #+ATTR_LaTeX: :width 15cm | |
| 310 [[./images/physical-hand.png]] | |
| 311 | |
| 312 -** Eyes reuse standard video game components | |
| 313 +** Sight reuses standard video game components... | |
| 314 | |
| 315 Vision is one of the most important senses for humans, so I need to | |
| 316 build a simulated sense of vision for my AI. I will do this with | |
| 317 @@ -1257,8 +1375,8 @@ | |
| 318 community and is now (in modified form) part of a system for | |
| 319 capturing in-game video to a file. | |
| 320 | |
| 321 -** Hearing is hard; =CORTEX= does it right | |
| 322 - | |
| 323 +** ...but hearing must be built from scratch | |
| 324 +# is hard; =CORTEX= does it right | |
| 325 At the end of this section I will have simulated ears that work the | |
| 326 same way as the simulated eyes in the last section. I will be able to | |
| 327 place any number of ear-nodes in a blender file, and they will bind to | |
| 328 @@ -1565,7 +1683,7 @@ | |
| 329 jMonkeyEngine3 community and is used to record audio for demo | |
| 330 videos. | |
| 331 | |
| 332 -** Touch uses hundreds of hair-like elements | |
| 333 +** Hundreds of hair-like elements provide a sense of touch | |
| 334 | |
| 335 Touch is critical to navigation and spatial reasoning and as such I | |
| 336 need a simulated version of it to give to my AI creatures. | |
| 337 @@ -2059,7 +2177,7 @@ | |
| 338 #+ATTR_LaTeX: :width 15cm | |
| 339 [[./images/touch-cube.png]] | |
| 340 | |
| 341 -** Proprioception is the sense that makes everything ``real'' | |
| 342 +** Proprioception provides knowledge of your own body's position | |
| 343 | |
| 344 Close your eyes, and touch your nose with your right index finger. | |
| 345 How did you do it? You could not see your hand, and neither your | |
| 346 @@ -2193,7 +2311,7 @@ | |
| 347 #+ATTR_LaTeX: :width 11cm | |
| 348 [[./images/proprio.png]] | |
| 349 | |
| 350 -** Muscles are both effectors and sensors | |
| 351 +** Muscles contain both sensors and effectors | |
| 352 | |
| 353 Surprisingly enough, terrestrial creatures only move by using | |
| 354 torque applied about their joints. There's not a single straight | |
| 355 @@ -2440,7 +2558,8 @@ | 297 @@ -2440,7 +2558,8 @@ |
| 356 hard control problems without worrying about physics or | 298 hard control problems without worrying about physics or |
| 357 senses. | 299 senses. |
| 358 | 300 |
| 359 -* Empathy in a simulated worm | 301 -* Empathy in a simulated worm |
| 369 -** Empathy is the process of tracing though \Phi-space | 311 -** Empathy is the process of tracing though \Phi-space |
| 370 +** ``Empathy'' requires retracing steps though \Phi-space | 312 +** ``Empathy'' requires retracing steps though \Phi-space |
| 371 | 313 |
| 372 Here is the core of a basic empathy algorithm, starting with an | 314 Here is the core of a basic empathy algorithm, starting with an |
| 373 experience vector: | 315 experience vector: |
| 374 @@ -2888,7 +3007,7 @@ | |
| 375 #+end_src | |
| 376 #+end_listing | |
| 377 | |
| 378 -** Efficient action recognition with =EMPATH= | |
| 379 +** =EMPATH= recognizes actions efficiently | |
| 380 | |
| 381 To use =EMPATH= with the worm, I first need to gather a set of | |
| 382 experiences from the worm that includes the actions I want to | |
| 383 @@ -3044,9 +3163,9 @@ | |
| 384 to interpretation, and dissaggrement between empathy and experience | |
| 385 is more excusable. | |
| 386 | |
| 387 -** Digression: bootstrapping touch using free exploration | |
| 388 - | |
| 389 - In the previous section I showed how to compute actions in terms of | |
| 390 +** Digression: Learn touch sensor layout through haptic experimentation, instead | |
| 391 +# Boostraping touch using free exploration | |
| 392 +In the previous section I showed how to compute actions in terms of | |
| 393 body-centered predicates which relied averate touch activation of | |
| 394 pre-defined regions of the worm's skin. What if, instead of recieving | |
| 395 touch pre-grouped into the six faces of each worm segment, the true |