cortex: org/worm_learn.clj comparison

comparison org/worm_learn.clj @ 420:7f3581dc58ff

completed phi-space tests; beginning main thesis pdf.

author	Robert McIntyre <rlm@mit.edu>
date	Thu, 20 Mar 2014 22:57:06 -0400
parents	dd40244255d4
children	5205535237fb

comparison

equal deleted inserted replaced

-:dd40244255d4
+:7f3581dc58ff
 (def worm-segment-top-tip (rect-region [0 15] [7 22]))
 (defn grand-circle?
 "Does the worm form a majestic circle (one end touching the other)?"
 [experiences]
-(and true;; (curled? experiences)
+(and (curled? experiences)
 (let [worm-touch (:touch (peek experiences))
 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))))))
 be ordered from most recent to least recent."
 [phi-index-sets]
 (loop [result '()
 [thread-bases & remaining :as phi-index-sets] phi-index-sets]
 (if (empty? phi-index-sets)
-result
+(vec result)
 (let [threads
 (for [thread-base thread-bases]
 (loop [thread (list thread-base)
 remaining remaining]
 (let [next-index (dec (first thread))]
 (def phi-space (generate-phi-space))
 (def phi-scan (gen-phi-scan phi-space))
 )
-(def ppp (atom ()))
-(defn debug-experience-phi [experiences]
-(let [phi-indices (phi-scan (:proprioception (peek experiences)))]
+(defn infer-nils
-(swap! ppp (partial cons phi-indices))
+"Replace nils with the next available non-nil element in the
-(println-repl phi-indices))
+sequence, or barring that, 0."
-(cond
+[s]
-(grand-circle? experiences) (println "Grand Circle")
+(loop [i (dec (count s)) v (transient s)]
-(curled? experiences)       (println "Curled")
+(if (= i 0) (persistent! v)
-(wiggling? experiences)     (println "Wiggling")
+(let [cur (v i)]
-(resting? experiences)      (println "Resting"))
+(if cur
-)
+(if (get v (dec i) 0)
+(recur (dec i) v)
+(recur (dec i) (assoc! v (dec i) cur)))
+(recur i (assoc! v i 0)))))))
+;; tests
+;;(infer-nils [1 nil 1 1]) [1 1 1 1]
+;;(infer-nils [1 1 1 nil]) [1 1 1 0]
+;;(infer-nils [nil 2 1 1]) [2 2 1 1]
+(defn debug-experience-phi []
+(let [proprio (atom ())]
+(fn
+[experiences]
+(let [phi-indices (phi-scan (:proprioception (peek experiences)))]
+(swap! proprio (partial cons phi-indices))
+(let [exp-thread (longest-thread (take 300 @proprio))
+phi-loop (mapv phi-space (infer-nils exp-thread))]
+(println-repl (vector:last-n exp-thread 22))
+(cond
+(grand-circle? phi-loop) (println "Grand Circle")
+(curled? phi-loop)       (println "Curled")
+(wiggling? phi-loop)     (println "Wiggling")
+(resting? phi-loop)      (println "Resting")
+:else                    (println "Unknown")))))))
+(defn init-interactive []
+(def phi-space
+(let [experiences (atom [])]
+(run-world
+(apply-map
+worm-world
+(merge
+(worm-world-defaults)
+{:experiences experiences})))
+@experiences))
+(def phi-scan (gen-phi-scan phi-space)))
+(defn run-experiment-1 []
+(.start (worm-world :experience-watch (debug-experience-phi))))

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comparison org/worm_learn.clj @ 420:7f3581dc58ff